#include <wam_controller_driver.h>

Inheritance diagram for WamControllerDriver:

Public Types
typedef iri_wam_controller::WamControllerConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
trajectory_msgs::JointTrajectoryPoint	get_desired_joint_trajectory_point ()
	Returns the current desired joint trajectory point.
void	get_joint_angles (std::vector< double > *angles)
size_t	get_num_joints ()
void	get_pose (std::vector< double > *pose)
std::string	get_robot_name ()
void	hold_off ()
void	hold_on ()
bool	is_joint_trajectory_result_succeeded ()
bool	is_joints_move_request_valid (const std::vector< double > &angles)
bool	is_moving ()
	check if the wam is moving right now after a moveTo
bool	is_moving_trajectory ()
void	move_in_joints (std::vector< double > angles, std::vector< double > vels=NULL, std::vector< double > *accs=NULL)
void	move_trajectory_in_joints (const trajectory_msgs::JointTrajectory &trajectory)
	Ask the low level driver to perform a trajectory in joints.
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
void	stop_trajectory_in_joints ()
bool	stopDriver (void)
	stop driver
void	wait_move_end ()
	WamControllerDriver (void)
	constructor
	~WamControllerDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
trajectory_msgs::JointTrajectoryPoint	desired_joint_trajectory_point_
std::string	robot_name_
	Robot name is needed to name the robot links.
wamDriver *	wam_
	The low level robot.

Detailed Description

IRI ROS Specific Driver Class

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The WamControllerDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The WamControllerConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 57 of file wam_controller_driver.h.

Member Typedef Documentation

typedef iri_wam_controller::WamControllerConfig WamControllerDriver::Config

define config type

Define a Config type with the WamControllerConfig. All driver implementations will then use the same variable type Config.

Definition at line 71 of file wam_controller_driver.h.

Constructor & Destructor Documentation

WamControllerDriver::WamControllerDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file wam_controller_driver.cpp.

WamControllerDriver::~WamControllerDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 110 of file wam_controller_driver.cpp.

Member Function Documentation

bool WamControllerDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 48 of file wam_controller_driver.cpp.

void WamControllerDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 86 of file wam_controller_driver.cpp.

trajectory_msgs::JointTrajectoryPoint WamControllerDriver::get_desired_joint_trajectory_point ( )

Returns the current desired joint trajectory point.

Definition at line 189 of file wam_controller_driver.cpp.

void WamControllerDriver::get_joint_angles ( std::vector< double > * angles )

Definition at line 142 of file wam_controller_driver.cpp.

size_t WamControllerDriver::get_num_joints ( ) [inline]

Definition at line 168 of file wam_controller_driver.h.

void WamControllerDriver::get_pose ( std::vector< double > * pose )

Definition at line 136 of file wam_controller_driver.cpp.

std::string WamControllerDriver::get_robot_name ( )

Definition at line 148 of file wam_controller_driver.cpp.

void WamControllerDriver::hold_off ( )

Definition at line 317 of file wam_controller_driver.cpp.

void WamControllerDriver::hold_on ( )

Definition at line 308 of file wam_controller_driver.cpp.

bool WamControllerDriver::is_joint_trajectory_result_succeeded ( )

Definition at line 175 of file wam_controller_driver.cpp.

bool WamControllerDriver::is_joints_move_request_valid ( const std::vector< double > & angles )

Checks if the lenght of the vector is correct and if NaN are present

Definition at line 114 of file wam_controller_driver.cpp.

bool WamControllerDriver::is_moving ( )

check if the wam is moving right now after a moveTo

Definition at line 165 of file wam_controller_driver.cpp.

bool WamControllerDriver::is_moving_trajectory ( )

after a /move_trajectory_in_joints

Definition at line 155 of file wam_controller_driver.cpp.

void WamControllerDriver::move_in_joints	(	std::vector< double > *	angles,
		std::vector< double > *	vels = `NULL`,
		std::vector< double > *	accs = `NULL`
	)

Definition at line 270 of file wam_controller_driver.cpp.

void WamControllerDriver::move_trajectory_in_joints ( const trajectory_msgs::JointTrajectory & trajectory )

Ask the low level driver to perform a trajectory in joints.

@ trajectory: list of joints, can include only position or positions/velocities/accelerations

Definition at line 195 of file wam_controller_driver.cpp.

bool WamControllerDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 22 of file wam_controller_driver.cpp.

bool WamControllerDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 57 of file wam_controller_driver.cpp.

void WamControllerDriver::stop_trajectory_in_joints ( )

Definition at line 264 of file wam_controller_driver.cpp.

bool WamControllerDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.