pr2_mechanism_model::Robot Class Reference

This class provides the controllers with an interface to the robot model. More...

#include <robot.h>

List of all members.

Public Member Functions
pr2_hardware_interface::Actuator *	getActuator (const std::string &name) const
	get an actuator pointer based on the actuator name. Returns NULL on failure
ros::Time	getTime ()
	Get the time when the current controller cycle was started.
pr2_mechanism_model::Transmission *	getTransmission (const std::string &name) const
	get a transmission pointer based on the transmission name. Returns NULL on failure
int	getTransmissionIndex (const std::string &name) const
	get the transmission index based on the transmission name. Returns -1 on failure
bool	initXml (TiXmlElement *root)
	Initialize the robot model form xml.
	Robot (pr2_hardware_interface::HardwareInterface *hw)
	Constructor.
	~Robot ()
	Destructor.
Public Attributes
pr2_hardware_interface::HardwareInterface *	hw_
	a pointer to the pr2 hardware interface. Only for advanced users
urdf::Model	robot_model_
	The kinematic/dynamic model of the robot.
std::vector< Transmission * >	transmissions_
	The list of transmissions.
Private Attributes
boost::shared_ptr < pluginlib::ClassLoader < pr2_mechanism_model::Transmission > >	transmission_loader_

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Detailed Description

This class provides the controllers with an interface to the robot model.

Most controllers that need the robot model should use the 'robot_model_', which is a kinematic/dynamic model of the robot, represented by a KDL Tree structure.

Some specialized controllers (such as the calibration controllers) can get access to actuators, transmissions and special joint parameters.

Definition at line 77 of file robot.h.

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Constructor & Destructor Documentation

Robot::Robot

(

pr2_hardware_interface::HardwareInterface *

hw

)

Constructor.

Definition at line 46 of file robot.cpp.

pr2_mechanism_model::Robot::~Robot

(

)

[inline]

Destructor.

Definition at line 84 of file robot.h.

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Member Function Documentation

Actuator * Robot::getActuator

(

const std::string &

name

)

const

get an actuator pointer based on the actuator name. Returns NULL on failure

Definition at line 153 of file robot.cpp.

ros::Time Robot::getTime

(

)

Get the time when the current controller cycle was started.

Definition at line 132 of file robot.cpp.

Transmission * Robot::getTransmission

(

const std::string &

name

)

const

get a transmission pointer based on the transmission name. Returns NULL on failure

Definition at line 158 of file robot.cpp.

int Robot::getTransmissionIndex

(

const std::string &

name

)

const

get the transmission index based on the transmission name. Returns -1 on failure

Definition at line 148 of file robot.cpp.

bool Robot::initXml

(

TiXmlElement *

root

)

Initialize the robot model form xml.

Definition at line 51 of file robot.cpp.

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Member Data Documentation

pr2_hardware_interface::HardwareInterface* pr2_mechanism_model::Robot::hw_

a pointer to the pr2 hardware interface. Only for advanced users

Definition at line 116 of file robot.h.

urdf::Model pr2_mechanism_model::Robot::robot_model_

The kinematic/dynamic model of the robot.

Definition at line 98 of file robot.h.

boost::shared_ptr<pluginlib::ClassLoader<pr2_mechanism_model::Transmission> > pr2_mechanism_model::Robot::transmission_loader_ [private]

Definition at line 119 of file robot.h.

std::vector<Transmission*> pr2_mechanism_model::Robot::transmissions_

The list of transmissions.

Definition at line 101 of file robot.h.

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

• robot.h
• robot.cpp