hardware_interface.hpp
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00034 
00035 #ifndef ROS_ETHERCAT_MODEL_HARDWARE_INTERFACE_H
00036 #define ROS_ETHERCAT_MODEL_HARDWARE_INTERFACE_H
00037 
00038 #include <string>
00039 #include <vector>
00040 
00041 #include <ros/ros.h>
00042 
00043 namespace ros_ethercat_model
00044 {
00045 
00046 class ActuatorState
00047 {
00048 public:
00049   ActuatorState() :
00050     device_id_(0),
00051     position_(0),
00052     velocity_(0),
00053     last_commanded_current_(0.0),
00054     last_measured_current_(0.0),
00055     last_commanded_effort_(0.0),
00056     last_measured_effort_(0.0),
00057     max_effort_(0.0),
00058     motor_voltage_(0.0)
00059   {
00060   }
00061 
00062   int device_id_; 
00063 
00064   double position_; 
00065   double velocity_; 
00066 
00067   double last_commanded_current_; 
00068   double last_measured_current_; 
00069 
00070   double last_commanded_effort_; 
00071   double last_measured_effort_; 
00072 
00073   double max_effort_; 
00074 
00075   double motor_voltage_; 
00076 };
00077 
00078 class ActuatorCommand
00079 {
00080 public:
00081   ActuatorCommand() :
00082     enable_(0),
00083     effort_(0)
00084   {
00085   }
00086 
00087   bool enable_; 
00088   double effort_; 
00089 };
00090 
00100 class Actuator
00101 {
00102 public:
00103   std::string name_;
00104   ActuatorState state_;
00105   ActuatorCommand command_;
00106 };
00107 
00113 class CustomHW
00114 {
00115 };
00116 
00117 }
00118 
00119 #endif


ros_ethercat_model
Author(s): Manos Nikolaidis
autogenerated on Thu Aug 27 2015 14:47:12