#include <hwi_switch_robot_hw_sim.h>
Public Member Functions | |
| virtual bool | canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const |
| virtual void | doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) |
| virtual bool | enableJointFiltering (ros::NodeHandle nh, std::string filter_joints_param) |
| virtual bool | initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions) |
| virtual void | stateValid (const bool active) |
Protected Attributes | |
| bool | enable_joint_filtering_ |
| std::set< std::string > | enabled_joints_ |
| std::map< std::string, ControlMethod > | map_hwinterface_to_controlmethod_ |
| std::map< std::string, std::set< std::string > > | map_hwinterface_to_joints_ |
| std::set< std::string > | position_joints_ |
| bool | state_valid_ |
Detailed Description
Definition at line 29 of file hwi_switch_robot_hw_sim.h.
Member Function Documentation
| bool cob_gazebo_ros_control::HWISwitchRobotHWSim::canSwitch | ( | const std::list< hardware_interface::ControllerInfo > & | start_list, |
| const std::list< hardware_interface::ControllerInfo > & | stop_list | ||
| ) | const [virtual] |
Reimplemented from hardware_interface::RobotHW.
Definition at line 285 of file hwi_switch_robot_hw_sim.cpp.
| void cob_gazebo_ros_control::HWISwitchRobotHWSim::doSwitch | ( | const std::list< hardware_interface::ControllerInfo > & | start_list, |
| const std::list< hardware_interface::ControllerInfo > & | stop_list | ||
| ) | [virtual] |
semantic Zero
call setCommand once so that the JointLimitsInterface receive the correct value on their getCommand()!
reset joint_limit_interfaces
Reimplemented from hardware_interface::RobotHW.
Definition at line 304 of file hwi_switch_robot_hw_sim.cpp.
| bool cob_gazebo_ros_control::HWISwitchRobotHWSim::enableJointFiltering | ( | ros::NodeHandle | nh, |
| std::string | filter_joints_param | ||
| ) | [virtual] |
Definition at line 264 of file hwi_switch_robot_hw_sim.cpp.
| bool cob_gazebo_ros_control::HWISwitchRobotHWSim::initSim | ( | const std::string & | robot_namespace, |
| ros::NodeHandle | model_nh, | ||
| gazebo::physics::ModelPtr | parent_model, | ||
| const urdf::Model *const | urdf_model, | ||
| std::vector< transmission_interface::TransmissionInfo > | transmissions | ||
| ) | [virtual] |
Reimplemented from gazebo_ros_control::DefaultRobotHWSim.
Definition at line 25 of file hwi_switch_robot_hw_sim.cpp.
| void cob_gazebo_ros_control::HWISwitchRobotHWSim::stateValid | ( | const bool | active | ) | [virtual] |
Definition at line 345 of file hwi_switch_robot_hw_sim.cpp.
Member Data Documentation
bool cob_gazebo_ros_control::HWISwitchRobotHWSim::enable_joint_filtering_ [protected] |
Definition at line 49 of file hwi_switch_robot_hw_sim.h.
std::set< std::string > cob_gazebo_ros_control::HWISwitchRobotHWSim::enabled_joints_ [protected] |
Definition at line 50 of file hwi_switch_robot_hw_sim.h.
std::map< std::string, ControlMethod > cob_gazebo_ros_control::HWISwitchRobotHWSim::map_hwinterface_to_controlmethod_ [protected] |
Definition at line 54 of file hwi_switch_robot_hw_sim.h.
std::map< std::string, std::set<std::string> > cob_gazebo_ros_control::HWISwitchRobotHWSim::map_hwinterface_to_joints_ [protected] |
Definition at line 53 of file hwi_switch_robot_hw_sim.h.
std::set< std::string > cob_gazebo_ros_control::HWISwitchRobotHWSim::position_joints_ [protected] |
Definition at line 52 of file hwi_switch_robot_hw_sim.h.
bool cob_gazebo_ros_control::HWISwitchRobotHWSim::state_valid_ [protected] |
Definition at line 56 of file hwi_switch_robot_hw_sim.h.
The documentation for this class was generated from the following files: