#include <hardware_interface.h>
Public Member Functions | |
| ActuatorState () | |
Public Attributes | |
| bool | calibration_falling_edge_valid_ |
| Is the last_callibration_falling_edge_ field valid? | |
| bool | calibration_reading_ |
| the value of the last calibration reading: low (false) or high (true) | |
| bool | calibration_rising_edge_valid_ |
| Is the last_callibration_rising_edge_ field valid? | |
| int | device_id_ |
| Position in EtherCAT chain. | |
| int | encoder_count_ |
| The number of ticks as reported by the encoder. | |
| double | encoder_velocity_ |
| The velocity measured in encoder ticks per second. | |
| bool | halted_ |
| indicates if the motor is halted. A motor can be halted because of voltage or communication problems | |
| bool | is_enabled_ |
| Enable status. | |
| double | last_calibration_falling_edge_ |
| The position of the motor the last time the calibration switch went from high to low. | |
| double | last_calibration_rising_edge_ |
| The position of the motor the last time the calibration switch went from low to high. | |
| double | last_commanded_current_ |
| The current computed based on the effort specified in the ActuatorCommand (in amps) | |
| double | last_commanded_effort_ |
| The torque requested in the previous ActuatorCommand (in Nm) | |
| double | last_executed_current_ |
| The actual current requested after safety limits were enforced (in amps) | |
| double | last_executed_effort_ |
| The torque applied after safety limits were enforced (in Nm) | |
| double | last_measured_current_ |
| The measured current (in amps) | |
| double | last_measured_effort_ |
| The measured torque (in Nm) | |
| double | max_effort_ |
| Absolute torque limit for actuator (derived from motor current limit). (in Nm) | |
| double | motor_voltage_ |
| Motor voltage (in volts) | |
| int | num_encoder_errors_ |
| The number of invalid encoder signal transitions. | |
| double | position_ |
| The position of the motor (in radians) | |
| ros::Duration | sample_timestamp_ |
| double | timestamp_ |
| double | velocity_ |
| The velocity in radians per second. | |
| double | zero_offset_ |
| A bias applied to the position value when reported. This value is written once after calibration. The reported position is the hardware's actual position minus the zero offset. | |
Definition at line 49 of file hardware_interface.h.
| pr2_hardware_interface::ActuatorState::ActuatorState | ( | ) | [inline] |
Definition at line 51 of file hardware_interface.h.
Is the last_callibration_falling_edge_ field valid?
Definition at line 101 of file hardware_interface.h.
the value of the last calibration reading: low (false) or high (true)
Definition at line 99 of file hardware_interface.h.
Is the last_callibration_rising_edge_ field valid?
Definition at line 100 of file hardware_interface.h.
Position in EtherCAT chain.
Definition at line 92 of file hardware_interface.h.
The number of ticks as reported by the encoder.
Definition at line 94 of file hardware_interface.h.
The velocity measured in encoder ticks per second.
Definition at line 96 of file hardware_interface.h.
indicates if the motor is halted. A motor can be halted because of voltage or communication problems
Definition at line 106 of file hardware_interface.h.
Enable status.
Definition at line 105 of file hardware_interface.h.
The position of the motor the last time the calibration switch went from high to low.
Definition at line 103 of file hardware_interface.h.
The position of the motor the last time the calibration switch went from low to high.
Definition at line 102 of file hardware_interface.h.
The current computed based on the effort specified in the ActuatorCommand (in amps)
Definition at line 108 of file hardware_interface.h.
The torque requested in the previous ActuatorCommand (in Nm)
Definition at line 112 of file hardware_interface.h.
The actual current requested after safety limits were enforced (in amps)
Definition at line 109 of file hardware_interface.h.
The torque applied after safety limits were enforced (in Nm)
Definition at line 113 of file hardware_interface.h.
The measured current (in amps)
Definition at line 110 of file hardware_interface.h.
The measured torque (in Nm)
Definition at line 114 of file hardware_interface.h.
Absolute torque limit for actuator (derived from motor current limit). (in Nm)
Definition at line 116 of file hardware_interface.h.
Motor voltage (in volts)
Definition at line 118 of file hardware_interface.h.
The number of invalid encoder signal transitions.
Definition at line 120 of file hardware_interface.h.
The position of the motor (in radians)
Definition at line 95 of file hardware_interface.h.
The time at which actuator state was measured, relative to the time the ethercat process was started. Timestamp value is not synchronised with wall time and may be different for different actuators. For Willow Garage motor controllers, timestamp is made when actuator data is sampled. sample_timestamp_ will provide better accuracy than ros::Time::now() or robot->getTime() when using a time difference in calculations based on actuator variables.
Definition at line 83 of file hardware_interface.h.
The time at which this actuator state was measured (in seconds). This value should be same as sample_timestamp_.toSec() for Willow Garage devices. The timestamp_ variable is being kept around for backwards compatibility, new controllers should use sample_timestamp_ instead.
Definition at line 90 of file hardware_interface.h.
The velocity in radians per second.
Definition at line 97 of file hardware_interface.h.
A bias applied to the position value when reported. This value is written once after calibration. The reported position is the hardware's actual position minus the zero offset.
Definition at line 122 of file hardware_interface.h.