Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
dynamixel_hardware_interface Namespace Reference

Namespaces

namespace  msg
namespace  srv

Classes

struct  DynamixelDataStruct
class  DynamixelIO
struct  DynamixelStatusStruct
struct  JointState_
struct  MotorState_
struct  MotorStateList_
struct  RestartController
struct  RestartControllerRequest_
struct  RestartControllerResponse_
class  SerialProxy
struct  SetComplianceMargin
struct  SetComplianceMarginRequest_
struct  SetComplianceMarginResponse_
struct  SetComplianceSlope
struct  SetComplianceSlopeRequest_
struct  SetComplianceSlopeResponse_
struct  SetTorqueLimit
struct  SetTorqueLimitRequest_
struct  SetTorqueLimitResponse_
struct  SetVelocity
struct  SetVelocityRequest_
struct  SetVelocityResponse_
struct  StartController
struct  StartControllerRequest_
struct  StartControllerResponse_
struct  StopController
struct  StopControllerRequest_
struct  StopControllerResponse_
struct  TorqueEnable
struct  TorqueEnableRequest_
struct  TorqueEnableResponse_

Typedefs

typedef enum
dynamixel_hardware_interface::DynamixelControlEnum 
DynamixelControl
typedef struct
dynamixel_hardware_interface::DynamixelDataStruct 
DynamixelData
typedef enum
dynamixel_hardware_interface::DynamixelErrorCodeEnum 
DynamixelErrorCode
typedef enum
dynamixel_hardware_interface::DynamixelInstructionEnum 
DynamixelInstruction
typedef enum
dynamixel_hardware_interface::DynamixelParamsEnum 
DynamixelParams
typedef struct
dynamixel_hardware_interface::DynamixelStatusStruct 
DynamixelStatus
typedef
::dynamixel_hardware_interface::JointState_
< std::allocator< void > > 
JointState
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::JointState
const > 
JointStateConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::JointState
JointStatePtr
typedef
::dynamixel_hardware_interface::MotorState_
< std::allocator< void > > 
MotorState
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::MotorState
const > 
MotorStateConstPtr
typedef
::dynamixel_hardware_interface::MotorStateList_
< std::allocator< void > > 
MotorStateList
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::MotorStateList
const > 
MotorStateListConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::MotorStateList
MotorStateListPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::MotorState
MotorStatePtr
typedef
::dynamixel_hardware_interface::RestartControllerRequest_
< std::allocator< void > > 
RestartControllerRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::RestartControllerRequest
const > 
RestartControllerRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::RestartControllerRequest
RestartControllerRequestPtr
typedef
::dynamixel_hardware_interface::RestartControllerResponse_
< std::allocator< void > > 
RestartControllerResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::RestartControllerResponse
const > 
RestartControllerResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::RestartControllerResponse
RestartControllerResponsePtr
typedef
::dynamixel_hardware_interface::SetComplianceMarginRequest_
< std::allocator< void > > 
SetComplianceMarginRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceMarginRequest
const > 
SetComplianceMarginRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceMarginRequest
SetComplianceMarginRequestPtr
typedef
::dynamixel_hardware_interface::SetComplianceMarginResponse_
< std::allocator< void > > 
SetComplianceMarginResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceMarginResponse
const > 
SetComplianceMarginResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceMarginResponse
SetComplianceMarginResponsePtr
typedef
::dynamixel_hardware_interface::SetComplianceSlopeRequest_
< std::allocator< void > > 
SetComplianceSlopeRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceSlopeRequest
const > 
SetComplianceSlopeRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceSlopeRequest
SetComplianceSlopeRequestPtr
typedef
::dynamixel_hardware_interface::SetComplianceSlopeResponse_
< std::allocator< void > > 
SetComplianceSlopeResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceSlopeResponse
const > 
SetComplianceSlopeResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetComplianceSlopeResponse
SetComplianceSlopeResponsePtr
typedef
::dynamixel_hardware_interface::SetTorqueLimitRequest_
< std::allocator< void > > 
SetTorqueLimitRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetTorqueLimitRequest
const > 
SetTorqueLimitRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetTorqueLimitRequest
SetTorqueLimitRequestPtr
typedef
::dynamixel_hardware_interface::SetTorqueLimitResponse_
< std::allocator< void > > 
SetTorqueLimitResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetTorqueLimitResponse
const > 
SetTorqueLimitResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetTorqueLimitResponse
SetTorqueLimitResponsePtr
typedef
::dynamixel_hardware_interface::SetVelocityRequest_
< std::allocator< void > > 
SetVelocityRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetVelocityRequest
const > 
SetVelocityRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetVelocityRequest
SetVelocityRequestPtr
typedef
::dynamixel_hardware_interface::SetVelocityResponse_
< std::allocator< void > > 
SetVelocityResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetVelocityResponse
const > 
SetVelocityResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::SetVelocityResponse
SetVelocityResponsePtr
typedef
::dynamixel_hardware_interface::StartControllerRequest_
< std::allocator< void > > 
StartControllerRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StartControllerRequest
const > 
StartControllerRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StartControllerRequest
StartControllerRequestPtr
typedef
::dynamixel_hardware_interface::StartControllerResponse_
< std::allocator< void > > 
StartControllerResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StartControllerResponse
const > 
StartControllerResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StartControllerResponse
StartControllerResponsePtr
typedef
::dynamixel_hardware_interface::StopControllerRequest_
< std::allocator< void > > 
StopControllerRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StopControllerRequest
const > 
StopControllerRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StopControllerRequest
StopControllerRequestPtr
typedef
::dynamixel_hardware_interface::StopControllerResponse_
< std::allocator< void > > 
StopControllerResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StopControllerResponse
const > 
StopControllerResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::StopControllerResponse
StopControllerResponsePtr
typedef
::dynamixel_hardware_interface::TorqueEnableRequest_
< std::allocator< void > > 
TorqueEnableRequest
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::TorqueEnableRequest
const > 
TorqueEnableRequestConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::TorqueEnableRequest
TorqueEnableRequestPtr
typedef
::dynamixel_hardware_interface::TorqueEnableResponse_
< std::allocator< void > > 
TorqueEnableResponse
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::TorqueEnableResponse
const > 
TorqueEnableResponseConstPtr
typedef boost::shared_ptr
< ::dynamixel_hardware_interface::TorqueEnableResponse
TorqueEnableResponsePtr

Enumerations

enum  DynamixelControlEnum {
  DXL_MODEL_NUMBER_L = 0, DXL_MODEL_NUMBER_H = 1, DXL_FIRMWARE_VERSION = 2, DXL_ID = 3,
  DXL_BAUD_RATE = 4, DXL_RETURN_DELAY_TIME = 5, DXL_CW_ANGLE_LIMIT_L = 6, DXL_CW_ANGLE_LIMIT_H = 7,
  DXL_CCW_ANGLE_LIMIT_L = 8, DXL_CCW_ANGLE_LIMIT_H = 9, DXL_DRIVE_MODE = 10, DXL_LIMIT_TEMPERATURE = 11,
  DXL_DOWN_LIMIT_VOLTAGE = 12, DXL_UP_LIMIT_VOLTAGE = 13, DXL_MAX_TORQUE_L = 14, DXL_MAX_TORQUE_H = 15,
  DXL_RETURN_LEVEL = 16, DXL_ALARM_LED = 17, DXL_ALARM_SHUTDOWN = 18, DXL_OPERATING_MODE = 19,
  DXL_DOWN_CALIBRATION_L = 20, DXL_DOWN_CALIBRATION_H = 21, DXL_UP_CALIBRATION_L = 22, DXL_UP_CALIBRATION_H = 23,
  DXL_TORQUE_ENABLE = 24, DXL_LED = 25, DXL_CW_COMPLIANCE_MARGIN = 26, DXL_CCW_COMPLIANCE_MARGIN = 27,
  DXL_CW_COMPLIANCE_SLOPE = 28, DXL_CCW_COMPLIANCE_SLOPE = 29, DXL_GOAL_POSITION_L = 30, DXL_GOAL_POSITION_H = 31,
  DXL_GOAL_SPEED_L = 32, DXL_GOAL_SPEED_H = 33, DXL_TORQUE_LIMIT_L = 34, DXL_TORQUE_LIMIT_H = 35,
  DXL_PRESENT_POSITION_L = 36, DXL_PRESENT_POSITION_H = 37, DXL_PRESENT_SPEED_L = 38, DXL_PRESENT_SPEED_H = 39,
  DXL_PRESENT_LOAD_L = 40, DXL_PRESENT_LOAD_H = 41, DXL_PRESENT_VOLTAGE = 42, DXL_PRESENT_TEMPERATURE = 43,
  DXL_REGISTERED_INSTRUCTION = 44, DXL_PAUSE_TIME = 45, DXL_MOVING = 46, DXL_LOCK = 47,
  DXL_PUNCH_L = 48, DXL_PUNCH_H = 49, DXL_SENSED_CURRENT_L = 56, DXL_SENSED_CURRENT_H = 57
}
enum  DynamixelErrorCodeEnum {
  DXL_INSTRUCTION_ERROR = 64, DXL_OVERLOAD_ERROR = 32, DXL_CHECKSUM_ERROR = 16, DXL_RANGE_ERROR = 8,
  DXL_OVERHEATING_ERROR = 4, DXL_ANGLE_LIMIT_ERROR = 2, DXL_INPUT_VOLTAGE_ERROR = 1, DXL_NO_ERROR = 0
}
enum  DynamixelInstructionEnum {
  DXL_PING = 1, DXL_READ_DATA = 2, DXL_WRITE_DATA = 3, DXL_REG_WRITE = 4,
  DXL_ACTION = 5, DXL_RESET = 6, DXL_SYNC_WRITE = 131, DXL_BROADCAST = 254
}
enum  DynamixelParamsEnum { ENCODER_RESOLUTION, RANGE_DEGREES, TORQUE_PER_VOLT, VELOCITY_PER_VOLT }

Functions

std::string getMotorModelName (int model_number)
double getMotorModelParams (int model_number, DynamixelParams param)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::dynamixel_hardware_interface::MotorStateList_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::dynamixel_hardware_interface::JointState_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream & operator<< (std::ostream &s, const ::dynamixel_hardware_interface::MotorState_< ContainerAllocator > &v)

Variables

const uint16_t DXL_MAX_LOAD_ENCODER = 1023
const uint16_t DXL_MAX_TORQUE_ENCODER = 1023
const uint16_t DXL_MAX_VELOCITY_ENCODER = 1023
const double KGCM_TO_NM = 0.0980665
const double RPM_TO_RADSEC = 0.104719755

Typedef Documentation

Definition at line 78 of file JointState.h.

Definition at line 81 of file JointState.h.

Definition at line 80 of file JointState.h.

Definition at line 92 of file MotorState.h.

Definition at line 95 of file MotorState.h.

Definition at line 43 of file MotorStateList.h.

Definition at line 46 of file MotorStateList.h.

Definition at line 45 of file MotorStateList.h.

Definition at line 94 of file MotorState.h.

Definition at line 46 of file RestartController.h.

Definition at line 49 of file RestartController.h.

Definition at line 48 of file RestartController.h.

Definition at line 75 of file RestartController.h.

Definition at line 78 of file RestartController.h.

Definition at line 77 of file RestartController.h.

Definition at line 46 of file SetComplianceMargin.h.

Definition at line 49 of file SetComplianceMargin.h.

Definition at line 48 of file SetComplianceMargin.h.

Definition at line 70 of file SetComplianceMargin.h.

Definition at line 73 of file SetComplianceMargin.h.

Definition at line 72 of file SetComplianceMargin.h.

Definition at line 53 of file SetComplianceSlope.h.

Definition at line 56 of file SetComplianceSlope.h.

Definition at line 55 of file SetComplianceSlope.h.

Definition at line 77 of file SetComplianceSlope.h.

Definition at line 80 of file SetComplianceSlope.h.

Definition at line 79 of file SetComplianceSlope.h.

Definition at line 46 of file SetTorqueLimit.h.

Definition at line 49 of file SetTorqueLimit.h.

Definition at line 48 of file SetTorqueLimit.h.

Definition at line 70 of file SetTorqueLimit.h.

Definition at line 73 of file SetTorqueLimit.h.

Definition at line 72 of file SetTorqueLimit.h.

Definition at line 46 of file SetVelocity.h.

Definition at line 49 of file SetVelocity.h.

Definition at line 48 of file SetVelocity.h.

Definition at line 70 of file SetVelocity.h.

Definition at line 73 of file SetVelocity.h.

Definition at line 72 of file SetVelocity.h.

Definition at line 51 of file StartController.h.

Definition at line 54 of file StartController.h.

Definition at line 53 of file StartController.h.

Definition at line 80 of file StartController.h.

Definition at line 83 of file StartController.h.

Definition at line 82 of file StartController.h.

Definition at line 46 of file StopController.h.

Definition at line 49 of file StopController.h.

Definition at line 48 of file StopController.h.

Definition at line 75 of file StopController.h.

Definition at line 78 of file StopController.h.

Definition at line 77 of file StopController.h.

Definition at line 46 of file TorqueEnable.h.

Definition at line 49 of file TorqueEnable.h.

Definition at line 48 of file TorqueEnable.h.

Definition at line 70 of file TorqueEnable.h.

Definition at line 73 of file TorqueEnable.h.

Definition at line 72 of file TorqueEnable.h.


Enumeration Type Documentation

Enumerator:
DXL_MODEL_NUMBER_L 
DXL_MODEL_NUMBER_H 
DXL_FIRMWARE_VERSION 
DXL_ID 
DXL_BAUD_RATE 
DXL_RETURN_DELAY_TIME 
DXL_CW_ANGLE_LIMIT_L 
DXL_CW_ANGLE_LIMIT_H 
DXL_CCW_ANGLE_LIMIT_L 
DXL_CCW_ANGLE_LIMIT_H 
DXL_DRIVE_MODE 
DXL_LIMIT_TEMPERATURE 
DXL_DOWN_LIMIT_VOLTAGE 
DXL_UP_LIMIT_VOLTAGE 
DXL_MAX_TORQUE_L 
DXL_MAX_TORQUE_H 
DXL_RETURN_LEVEL 
DXL_ALARM_LED 
DXL_ALARM_SHUTDOWN 
DXL_OPERATING_MODE 
DXL_DOWN_CALIBRATION_L 
DXL_DOWN_CALIBRATION_H 
DXL_UP_CALIBRATION_L 
DXL_UP_CALIBRATION_H 
DXL_TORQUE_ENABLE 
DXL_LED 
DXL_CW_COMPLIANCE_MARGIN 
DXL_CCW_COMPLIANCE_MARGIN 
DXL_CW_COMPLIANCE_SLOPE 
DXL_CCW_COMPLIANCE_SLOPE 
DXL_GOAL_POSITION_L 
DXL_GOAL_POSITION_H 
DXL_GOAL_SPEED_L 
DXL_GOAL_SPEED_H 
DXL_TORQUE_LIMIT_L 
DXL_TORQUE_LIMIT_H 
DXL_PRESENT_POSITION_L 
DXL_PRESENT_POSITION_H 
DXL_PRESENT_SPEED_L 
DXL_PRESENT_SPEED_H 
DXL_PRESENT_LOAD_L 
DXL_PRESENT_LOAD_H 
DXL_PRESENT_VOLTAGE 
DXL_PRESENT_TEMPERATURE 
DXL_REGISTERED_INSTRUCTION 
DXL_PAUSE_TIME 
DXL_MOVING 
DXL_LOCK 
DXL_PUNCH_L 
DXL_PUNCH_H 
DXL_SENSED_CURRENT_L 
DXL_SENSED_CURRENT_H 

Definition at line 42 of file dynamixel_const.h.

Enumerator:
DXL_INSTRUCTION_ERROR 
DXL_OVERLOAD_ERROR 
DXL_CHECKSUM_ERROR 
DXL_RANGE_ERROR 
DXL_OVERHEATING_ERROR 
DXL_ANGLE_LIMIT_ERROR 
DXL_INPUT_VOLTAGE_ERROR 
DXL_NO_ERROR 

Definition at line 112 of file dynamixel_const.h.

Enumerator:
DXL_PING 
DXL_READ_DATA 
DXL_WRITE_DATA 
DXL_REG_WRITE 
DXL_ACTION 
DXL_RESET 
DXL_SYNC_WRITE 
DXL_BROADCAST 

Definition at line 99 of file dynamixel_const.h.

Enumerator:
ENCODER_RESOLUTION 
RANGE_DEGREES 
TORQUE_PER_VOLT 
VELOCITY_PER_VOLT 

Definition at line 126 of file dynamixel_const.h.


Function Documentation

std::string dynamixel_hardware_interface::getMotorModelName ( int  model_number) [inline]

Definition at line 135 of file dynamixel_const.h.

double dynamixel_hardware_interface::getMotorModelParams ( int  model_number,
DynamixelParams  param 
) [inline]

Definition at line 155 of file dynamixel_const.h.

template<typename ContainerAllocator >
std::ostream& dynamixel_hardware_interface::operator<< ( std::ostream &  s,
const ::dynamixel_hardware_interface::MotorStateList_< ContainerAllocator > &  v 
)

Definition at line 50 of file MotorStateList.h.

template<typename ContainerAllocator >
std::ostream& dynamixel_hardware_interface::operator<< ( std::ostream &  s,
const ::dynamixel_hardware_interface::JointState_< ContainerAllocator > &  v 
)

Definition at line 85 of file JointState.h.

template<typename ContainerAllocator >
std::ostream& dynamixel_hardware_interface::operator<< ( std::ostream &  s,
const ::dynamixel_hardware_interface::MotorState_< ContainerAllocator > &  v 
)

Definition at line 99 of file MotorState.h.


Variable Documentation

Definition at line 37 of file dynamixel_const.h.

Definition at line 39 of file dynamixel_const.h.

Definition at line 38 of file dynamixel_const.h.

const double dynamixel_hardware_interface::KGCM_TO_NM = 0.0980665

Definition at line 152 of file dynamixel_const.h.

const double dynamixel_hardware_interface::RPM_TO_RADSEC = 0.104719755

Definition at line 153 of file dynamixel_const.h.



dynamixel_hardware_interface
Author(s): Antons Rebguns
autogenerated on Sun Oct 5 2014 23:33:10