pr2_mechanism_model::Robot Class Reference
This class provides the controllers with an interface to the robot model.
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#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_ |
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.
Constructor & Destructor Documentation
| pr2_mechanism_model::Robot::Robot |
( |
pr2_hardware_interface::HardwareInterface * |
hw |
) |
|
| pr2_mechanism_model::Robot::~Robot |
( |
|
) |
[inline] |
Destructor.
Definition at line 84 of file robot.h.
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.
Member Data Documentation
a pointer to the pr2 hardware interface. Only for advanced users
Definition at line 116 of file robot.h.
The kinematic/dynamic model of the robot.
Definition at line 98 of file robot.h.
The list of transmissions.
Definition at line 101 of file robot.h.
The documentation for this class was generated from the following files:
