sas_robot_driver_subclass_example_py.ExampleRobotDriver Class Reference

Inheritance diagram for sas_robot_driver_subclass_example_py.ExampleRobotDriver:

Public Member Functions
	__init__ (self, ShutdownSignaler ss)
	connect (self)
	disconnect (self)
	initialize (self)
	deinitialize (self)
	get_joint_positions (self)
	set_target_joint_positions (self, target_joint_positions_rad)
Public Member Functions inherited from marinholab::sas::core::RobotDriver
virtual	~RobotDriver ()
	Virtual destructor for RobotDriver.
virtual Eigen::VectorXd	get_joint_positions ()=0
	Get current joint positions.
virtual void	set_target_joint_positions (const Eigen::VectorXd &set_target_joint_positions_rad)=0
	Set target joint positions.
virtual Eigen::VectorXd	get_joint_velocities ()
	Get current joint velocities.
virtual void	set_target_joint_velocities (const Eigen::VectorXd &set_target_joint_velocities)
	Set target joint velocities.
virtual Eigen::VectorXd	get_joint_torques ()
	Get current joint torques.
virtual void	set_target_joint_torques (const Eigen::VectorXd &set_target_joint_torques)
	Set target joint torques.
virtual std::tuple< Eigen::VectorXd, Eigen::VectorXd >	get_joint_limits ()
	Get joint limits (min, max).
virtual void	set_joint_limits (const std::tuple< Eigen::VectorXd, Eigen::VectorXd > &joint_limits)
	Set joint limits (min, max).
void	watchdog_start (const std::chrono::nanoseconds &period)
	Start the watchdog thread with the given period.
void	watchdog_trigger (const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_client, const std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds > &time_point_from_the_server, const bool &status)
	Trigger the watchdog with timestamps from client/server and the current status.
void	watchdog_set_maximum_acceptable_delay (const double &max_acceptable_delay)
	Set the maximum acceptable delay for the watchdog (seconds).
void	check_for_watchdog_exceptions ()
	Check for exceptions thrown by the watchdog thread and rethrow if present.
virtual void	connect ()=0
	Connect to the underlying robot/hardware.
virtual void	disconnect ()=0
	Disconnect from the underlying robot/hardware.
virtual void	initialize ()=0
	Initialize the driver resources.
virtual void	deinitialize ()=0
	Deinitialize the driver resources.
void	set_control_loop_callback (std::function< void()> callback)
	Set the control loop callback function.
void	execute_control_loop_callback ()
	Execute the control loop callback if it has been set.
bool	control_loop_callback_is_set ()
	Check if a control loop callback has been set.

Public Attributes
	joint_positions = None

Static Public Attributes
bool	break_loop = False

Additional Inherited Members
Public Types inherited from marinholab::sas::core::RobotDriver
enum class	Functionality {   None =0 , PositionControl , VelocityControl , ForceControl ,   Homing , ClearPositions , Watchdog }
	Enumeration of optional driver functionalities.
Protected Member Functions inherited from marinholab::sas::core::RobotDriver
void	_watchdog_thread_function ()
	RobotDriver::_watchdog_thread_function throws an exception if the elapsed time since the last trigger exceeds the specified period.
	RobotDriver (const std::shared_ptr< ShutdownSignaler > &shutdown_signaler_)
	RobotDriver (std::atomic_bool *break_loops)
	RobotDriver (const RobotDriver &)=delete
Protected Attributes inherited from marinholab::sas::core::RobotDriver
std::atomic_bool *	break_loops_
std::shared_ptr< ShutdownSignaler >	shutdown_signaler_
std::tuple< Eigen::VectorXd, Eigen::VectorXd >	joint_limits_
Eigen::VectorXd	joint_velocities_
Eigen::VectorXd	joint_torques_
std::unique_ptr< marinholab::sas::core::Clock >	clock_
std::unique_ptr< std::thread >	watchdog_thread_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_client_
std::chrono::time_point< std::chrono::system_clock, std::chrono::nanoseconds >	time_point_from_the_server_
bool	watchdog_status_
std::mutex	mutex_watchdog_
double	max_acceptable_delay_ = 0.1
double	watchdog_period_
std::exception_ptr	watchdog_exception_ {nullptr}
std::mutex	watchdog_exception_mutex_
std::function< void()>	control_loop_callback_

Detailed Description

@class ExampleRobotDriver
@brief Example RobotDriver subclass.

Minimal example showing the typical methods required by a RobotDriver
implementation.

Constructor & Destructor Documentation

__init__()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.__init__	(		self,
		ShutdownSignaler	ss )

@brief Constructor.
@param ss ShutdownSignaler instance used by the base RobotDriver to
          coordinate shutdown requests.

Member Function Documentation

connect()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.connect

(

self

)

@brief Establish connection to the robot/hardware.
@return None

deinitialize()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.deinitialize

(

self

)

@brief Deinitialize the robot driver (clean up resources).
@return None

disconnect()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.disconnect

(

self

)

@brief Terminate connection to the robot/hardware.
@return None

get_joint_positions()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.get_joint_positions

(

self

)

@brief Get the current joint positions.
@return numpy.ndarray or None Current joint positions in radians, or None if unknown.

initialize()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.initialize

(

self

)

@brief Initialize the robot driver (bring hardware to an operational state).
@return None

set_target_joint_positions()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.set_target_joint_positions	(		self,
			target_joint_positions_rad )

@brief Set the desired joint positions (target).
@param target_joint_positions_rad numpy.ndarray Target joint positions in radians.
@return None

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The documentation for this class was generated from the following file:

• src/sas_core/scripts/sas_robot_driver_subclass_example_py.py