List of all members.
Public Member Functions |
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| ProductManager (const char *configFile=NULL, bus::CommunicationsBus *bus=NULL) |
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void | enumerate () |
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void | cleanUpAfterEstop () |
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void | wakeAllPucks () const |
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bool | foundSafetyModule () const |
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SafetyModule * | getSafetyModule () |
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const std::vector< Puck * > & | getWamPucks () const |
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bool | foundWam () const |
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bool | foundWam3 () const |
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bool | foundWam4 () const |
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bool | foundWam7 () const |
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bool | foundWam7Wrist () const |
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bool | foundWam7Gimbals () const |
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void | waitForWam (bool promptOnZeroing=true) |
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const char * | getWamDefaultConfigPath () |
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systems::Wam< 3 > * | getWam3 (bool waitForShiftActivate=true, const char *configPath=NULL) |
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systems::Wam< 4 > * | getWam4 (bool waitForShiftActivate=true, const char *configPath=NULL) |
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systems::Wam< 7 > * | getWam7 (bool waitForShiftActivate=true, const char *configPath=NULL) |
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systems::RealTimeExecutionManager * | getExecutionManager (double period_s=DEFAULT_LOOP_PERIOD, int rt_priority=50) |
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void | startExecutionManager () |
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bool | foundForceTorqueSensor () const |
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ForceTorqueSensor * | getForceTorqueSensor () |
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const std::vector< Puck * > & | getHandPucks () const |
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bool | foundHand () const |
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Hand * | getHand () |
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bool | foundGimbalsHandController () const |
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GimbalsHandController * | getGimbalsHandController () |
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const std::vector< Puck * > & | getPucks () const |
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Puck * | getPuck (int id) const |
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void | deletePuck (Puck *p) |
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libconfig::Config & | getConfig () |
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const bus::CommunicationsBus & | getBus () const |
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virtual thread::Mutex & | getMutex () const |
Static Public Attributes |
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static const std::string | DEFAULT_CONFIG_FILE = barrett::EtcPathRelative("default.conf") |
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static const size_t | MAX_WAM_DOF = 7 |
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static const double | DEFAULT_LOOP_PERIOD = 0.002 |
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static const int | SAFETY_MODULE_ID = 10 |
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static const int | FIRST_WAM_ID = 1 |
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static const int | FIRST_HAND_ID = 11 |
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static const int | FORCE_TORQUE_SENSOR_ID = 8 |
Protected Member Functions |
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void | destroyEstopProducts () |
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bool | verifyWamPucks (const size_t dof) const |
Protected Attributes |
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libconfig::Config | config |
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bus::CommunicationsBus * | bus |
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bool | deleteBus |
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std::vector< Puck * > | pucks |
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std::vector< Puck * > | wamPucks |
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std::vector< Puck * > | handPucks |
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SafetyModule * | sm |
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systems::RealTimeExecutionManager * | rtem |
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systems::Wam< 3 > * | wam3 |
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systems::Wam< 4 > * | wam4 |
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systems::Wam< 7 > * | wam7 |
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ForceTorqueSensor * | fts |
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Hand * | hand |
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GimbalsHandController * | ghc |
The documentation for this class was generated from the following files:
1.7.6.1
