Public Member Functions | |
| bool | configureHook () |
| FRIComponent (const std::string &name) | |
| bool | startHook () |
| void | stopHook () |
| void | updateHook () |
| ~FRIComponent () | |
Private Member Functions | |
| void | doComm () |
| int | fri_create_socket () |
| int | fri_recv () |
| int | fri_send () |
| bool | isPowerOn () |
Private Attributes | |
| uint16_t | counter |
| uint16_t | fri_state_last |
| Eigen::VectorXd | grav_trq_ |
| KDL::Jacobian | jac_ |
| Eigen::VectorXd | jnt_pos_ |
| Eigen::VectorXd | jnt_pos_cmd_ |
| Eigen::VectorXd | jnt_pos_old_ |
| Eigen::VectorXd | jnt_trq_ |
| Eigen::VectorXd | jnt_trq_cmd_ |
| Eigen::VectorXd | jnt_vel_ |
| std::string | joint_names_prefix |
| tFriCmdData | m_cmd_data |
| int | m_control_mode |
| tFriMsrData | m_msr_data |
| struct sockaddr_in | m_remote_addr |
| int | m_remote_port |
| socklen_t | m_sock_addr_len |
| int | m_socket |
| RTT::InputPort < lwr_fri::CartesianImpedance > | port_CartesianImpedanceCommand |
| RTT::OutputPort < geometry_msgs::Pose > | port_CartesianPosition |
| RTT::InputPort < geometry_msgs::Pose > | port_CartesianPositionCommand |
| RTT::OutputPort < geometry_msgs::Twist > | port_CartesianVelocity |
| RTT::OutputPort < geometry_msgs::Wrench > | port_CartesianWrench |
| RTT::InputPort < geometry_msgs::Wrench > | port_CartesianWrenchCommand |
| RTT::OutputPort< tFriIntfState > | port_FRIState |
| RTT::OutputPort< Eigen::VectorXd > | port_GravityTorque |
| RTT::OutputPort< KDL::Jacobian > | port_Jacobian |
| RTT::InputPort < lwr_fri::FriJointImpedance > | port_JointImpedanceCommand |
| RTT::OutputPort< Eigen::VectorXd > | port_JointPosition |
| RTT::InputPort< Eigen::VectorXd > | port_JointPositionCommand |
| RTT::OutputPort< Eigen::VectorXd > | port_JointTorque |
| RTT::InputPort< Eigen::VectorXd > | port_JointTorqueCommand |
| RTT::OutputPort< Eigen::VectorXd > | port_JointVelocity |
| RTT::InputPort< std_msgs::Int32 > | port_KRL_CMD |
| RTT::OutputPort< Matrix77d > | port_MassMatrix |
| RTT::OutputPort< tFriRobotState > | port_RobotState |
| int | prop_fri_port |
| KDL::Frame | T_old |
Definition at line 49 of file FRIComponent.cpp.
| FRIComponent::FRIComponent | ( | const std::string & | name | ) | [inline] |
Definition at line 51 of file FRIComponent.cpp.
| FRIComponent::~FRIComponent | ( | ) | [inline] |
Definition at line 78 of file FRIComponent.cpp.
| bool FRIComponent::configureHook | ( | ) | [inline] |
Definition at line 81 of file FRIComponent.cpp.
| void FRIComponent::doComm | ( | ) | [inline, private] |
Definition at line 123 of file FRIComponent.cpp.
| int FRIComponent::fri_create_socket | ( | ) | [inline, private] |
Definition at line 436 of file FRIComponent.cpp.
| int FRIComponent::fri_recv | ( | ) | [inline, private] |
Definition at line 412 of file FRIComponent.cpp.
| int FRIComponent::fri_send | ( | ) | [inline, private] |
Definition at line 423 of file FRIComponent.cpp.
| bool FRIComponent::isPowerOn | ( | ) | [inline, private] |
Definition at line 434 of file FRIComponent.cpp.
| bool FRIComponent::startHook | ( | ) | [inline] |
Definition at line 104 of file FRIComponent.cpp.
| void FRIComponent::stopHook | ( | ) | [inline] |
Definition at line 110 of file FRIComponent.cpp.
| void FRIComponent::updateHook | ( | ) | [inline] |
Definition at line 115 of file FRIComponent.cpp.
uint16_t FRIComponent::counter [private] |
Definition at line 405 of file FRIComponent.cpp.
uint16_t FRIComponent::fri_state_last [private] |
Definition at line 405 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::grav_trq_ [private] |
Definition at line 393 of file FRIComponent.cpp.
KDL::Jacobian FRIComponent::jac_ [private] |
Definition at line 399 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::jnt_pos_ [private] |
Definition at line 390 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::jnt_pos_cmd_ [private] |
Definition at line 396 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::jnt_pos_old_ [private] |
Definition at line 391 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::jnt_trq_ [private] |
Definition at line 392 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::jnt_trq_cmd_ [private] |
Definition at line 397 of file FRIComponent.cpp.
Eigen::VectorXd FRIComponent::jnt_vel_ [private] |
Definition at line 394 of file FRIComponent.cpp.
std::string FRIComponent::joint_names_prefix [private] |
Definition at line 404 of file FRIComponent.cpp.
tFriCmdData FRIComponent::m_cmd_data [private] |
Definition at line 410 of file FRIComponent.cpp.
int FRIComponent::m_control_mode [private] |
Definition at line 403 of file FRIComponent.cpp.
tFriMsrData FRIComponent::m_msr_data [private] |
Definition at line 409 of file FRIComponent.cpp.
struct sockaddr_in FRIComponent::m_remote_addr [private] |
Definition at line 406 of file FRIComponent.cpp.
int FRIComponent::m_remote_port [private] |
Definition at line 403 of file FRIComponent.cpp.
socklen_t FRIComponent::m_sock_addr_len [private] |
Definition at line 407 of file FRIComponent.cpp.
int FRIComponent::m_socket [private] |
Definition at line 403 of file FRIComponent.cpp.
RTT::InputPort<lwr_fri::CartesianImpedance > FRIComponent::port_CartesianImpedanceCommand [private] |
Definition at line 366 of file FRIComponent.cpp.
RTT::OutputPort<geometry_msgs::Pose > FRIComponent::port_CartesianPosition [private] |
Definition at line 379 of file FRIComponent.cpp.
RTT::InputPort<geometry_msgs::Pose > FRIComponent::port_CartesianPositionCommand [private] |
Definition at line 368 of file FRIComponent.cpp.
RTT::OutputPort<geometry_msgs::Twist > FRIComponent::port_CartesianVelocity [private] |
Definition at line 378 of file FRIComponent.cpp.
RTT::OutputPort<geometry_msgs::Wrench > FRIComponent::port_CartesianWrench [private] |
Definition at line 374 of file FRIComponent.cpp.
RTT::InputPort<geometry_msgs::Wrench > FRIComponent::port_CartesianWrenchCommand [private] |
Definition at line 367 of file FRIComponent.cpp.
RTT::OutputPort<tFriIntfState > FRIComponent::port_FRIState [private] |
Definition at line 376 of file FRIComponent.cpp.
RTT::OutputPort<Eigen::VectorXd > FRIComponent::port_GravityTorque [private] |
Definition at line 383 of file FRIComponent.cpp.
RTT::OutputPort<KDL::Jacobian > FRIComponent::port_Jacobian [private] |
Definition at line 381 of file FRIComponent.cpp.
RTT::InputPort<lwr_fri::FriJointImpedance > FRIComponent::port_JointImpedanceCommand [private] |
Definition at line 369 of file FRIComponent.cpp.
RTT::OutputPort<Eigen::VectorXd > FRIComponent::port_JointPosition [private] |
Definition at line 384 of file FRIComponent.cpp.
RTT::InputPort<Eigen::VectorXd > FRIComponent::port_JointPositionCommand [private] |
Definition at line 370 of file FRIComponent.cpp.
RTT::OutputPort<Eigen::VectorXd > FRIComponent::port_JointTorque [private] |
Definition at line 382 of file FRIComponent.cpp.
RTT::InputPort<Eigen::VectorXd > FRIComponent::port_JointTorqueCommand [private] |
Definition at line 371 of file FRIComponent.cpp.
RTT::OutputPort<Eigen::VectorXd > FRIComponent::port_JointVelocity [private] |
Definition at line 377 of file FRIComponent.cpp.
RTT::InputPort<std_msgs::Int32 > FRIComponent::port_KRL_CMD [private] |
Definition at line 372 of file FRIComponent.cpp.
RTT::OutputPort<Matrix77d > FRIComponent::port_MassMatrix [private] |
Definition at line 380 of file FRIComponent.cpp.
RTT::OutputPort<tFriRobotState > FRIComponent::port_RobotState [private] |
Definition at line 375 of file FRIComponent.cpp.
int FRIComponent::prop_fri_port [private] |
Definition at line 386 of file FRIComponent.cpp.
KDL::Frame FRIComponent::T_old [private] |
Definition at line 401 of file FRIComponent.cpp.