Inheritance diagram for CirkitUnit03HardwareInterface:

Public Member Functions
	CirkitUnit03HardwareInterface (const std::string &imcs01_port, const ros::NodeHandle &nh)
ros::Duration	getPeriod () const
ros::Time	getTime () const
void	read ()
void	write ()
Protected Member Functions
void	publishSteer (double angle_cmd)
void	registerVirtualJointState (std::vector< double > &virtual_wheels_pos_, std::vector< double > &virtual_wheels_vel_, std::vector< double > &virtual_wheels_eff_, std::vector< std::string > &virtual_wheels_names)
Protected Attributes
double	front_steer_eff_
hardware_interface::PositionJointInterface	front_steer_jnt_pos_cmd_interface_
double	front_steer_pos_
double	front_steer_pos_cmd_
double	front_steer_vel_
IxisImcs01Driver	ixis_imcs01_driver_
hardware_interface::JointStateInterface	joint_state_interface_
ros::NodeHandle	nh_
double	rear_wheel_eff_
hardware_interface::VelocityJointInterface	rear_wheel_jnt_vel_cmd_interface_
double	rear_wheel_pos_
double	rear_wheel_vel_
double	rear_wheel_vel_cmd_
ros::Publisher	steer_cmd_publisher_
std::vector< double >	virtual_wheels_eff_
std::vector< double >	virtual_wheels_pos_
std::vector< double >	virtual_wheels_vel_

Detailed Description

Definition at line 21 of file cirkit_unit03_hw.cpp.

Constructor & Destructor Documentation

CirkitUnit03HardwareInterface::CirkitUnit03HardwareInterface	(	const std::string &	imcs01_port,
		const ros::NodeHandle &	nh
	)

Definition at line 61 of file cirkit_unit03_hw.cpp.

ros::Duration CirkitUnit03HardwareInterface::getPeriod ( ) const [inline]

Definition at line 27 of file cirkit_unit03_hw.cpp.

ros::Time CirkitUnit03HardwareInterface::getTime ( ) const [inline]

Definition at line 26 of file cirkit_unit03_hw.cpp.

void CirkitUnit03HardwareInterface::publishSteer ( double angle_cmd ) [protected]

Definition at line 141 of file cirkit_unit03_hw.cpp.

void CirkitUnit03HardwareInterface::read ( )

Definition at line 110 of file cirkit_unit03_hw.cpp.

void CirkitUnit03HardwareInterface::registerVirtualJointState	(	std::vector< double > &	virtual_wheels_pos_,
		std::vector< double > &	virtual_wheels_vel_,
		std::vector< double > &	virtual_wheels_eff_,
		std::vector< std::string > &	virtual_wheels_names
	)		`[protected]`