DensoController Class Reference

Inheritance diagram for DensoController:

List of all members.

Classes
class	DensoControllerStatus
Public Member Functions
BCAP_HRESULT	bCapClearError ()
BCAP_HRESULT	bCapClose ()
BCAP_HRESULT	bCapControllerConnect ()
BCAP_HRESULT	bCapControllerDisConnect ()
u_int	bCapControllerGetVariable (const std::string &varname)
BCAP_HRESULT	bCapCurJnt (std::vector< double > &jointvalues)
u_int	bCapErrorDescription (std::string &errormsg)
BCAP_HRESULT	bCapFillBuffer ()
bool	bCapGetBoolVariable (const std::string &var_name)
bool	bCapGetEmergencyStop ()
u_int	bCapGetErrorCode ()
u_int	bCapGetIntegerVariable (const std::string &var_name)
u_int	bCapGetMode ()
BCAP_HRESULT	bCapGetRobot ()
BCAP_HRESULT	bCapGiveArm ()
void	bCapInitializeVariableHandlers ()
BCAP_HRESULT	bCapMotor (bool command)
BCAP_HRESULT	bCapOpen ()
BCAP_HRESULT	bCapReflectRealState ()
BCAP_HRESULT	bCapReleaseRobot ()
BCAP_HRESULT	bCapRobotExecute (char *command, char *arg)
u_int	bCapRobotGetVariable (const std::string &varname)
BCAP_HRESULT	bCapRobotSlvMove (BCAP_VARIANT *pose, BCAP_VARIANT *result)
BCAP_HRESULT	bCapServerStart ()
BCAP_HRESULT	bCapServerStop ()
BCAP_HRESULT	bCapSetExternalSpeed (float arg)
BCAP_HRESULT	bCapSlvChangeMode (u_int arg)
BCAP_HRESULT	bCapTakearm ()
	DensoController ()
virtual void	finalizeHW ()
void	initializeCM ()
void	initializeHW ()
void	initializeROS (ros::NodeHandle &node)
void	quitRequest ()
OpenControllersInterface::ControllerStatusPtr	recoverController ()
void	setUDPTimeout (long sec, long usec)
void	start ()
OpenControllersInterface::ControllerStatusPtr	updateJoints (struct timespec *spec_result)
virtual	~DensoController ()
Public Attributes
u_int	__errorcode__
Private Types
typedef boost::shared_ptr < DensoControllerStatus >	DensoControllerStatusPtr
Private Attributes
char	errdesc_buffer_ [2048]
int	iSockFD_
u_int	lhController_
u_int	lhRobot_
std::vector< double >	prev_angle_
struct timespec	prev_time_
std::vector< double >	prev_vel_
std::string	server_ip_address_
int	server_port_number_
int	udp_timeout_
std::map< std::string, u_int >	var_handlers_
std::map< std::string, u_short >	var_types_

---

Detailed Description

Definition at line 82 of file main.cpp.

---

Member Typedef Documentation

typedef boost::shared_ptr<DensoControllerStatus> DensoController::DensoControllerStatusPtr [private]

Definition at line 94 of file main.cpp.

---

Constructor & Destructor Documentation

DensoController::DensoController

(

)

[inline]

Definition at line 97 of file main.cpp.

virtual DensoController::~DensoController

(

)

[inline, virtual]

Definition at line 108 of file main.cpp.

---

Member Function Documentation

BCAP_HRESULT DensoController::bCapClearError

(

)

[inline]

Definition at line 163 of file main.cpp.

BCAP_HRESULT DensoController::bCapClose

(

)

[inline]

Definition at line 141 of file main.cpp.

BCAP_HRESULT DensoController::bCapControllerConnect

(

)

[inline]

Definition at line 148 of file main.cpp.

BCAP_HRESULT DensoController::bCapControllerDisConnect

(

)

[inline]

Definition at line 156 of file main.cpp.

u_int DensoController::bCapControllerGetVariable

(

const std::string &

varname

)

[inline]

Definition at line 273 of file main.cpp.

BCAP_HRESULT DensoController::bCapCurJnt

(

std::vector< double > &

jointvalues

)

[inline]

Definition at line 406 of file main.cpp.

u_int DensoController::bCapErrorDescription

(

std::string &

errormsg

)

[inline]

Definition at line 353 of file main.cpp.

BCAP_HRESULT DensoController::bCapFillBuffer

(

)

[inline]

Definition at line 552 of file main.cpp.

bool DensoController::bCapGetBoolVariable

(

const std::string &

var_name

)

[inline]

Definition at line 295 of file main.cpp.

bool DensoController::bCapGetEmergencyStop

(

)

[inline]

Definition at line 348 of file main.cpp.

u_int DensoController::bCapGetErrorCode

(

)

[inline]

Definition at line 326 of file main.cpp.

u_int DensoController::bCapGetIntegerVariable

(

const std::string &

var_name

)

[inline]

Definition at line 310 of file main.cpp.

u_int DensoController::bCapGetMode

(

)

[inline]

Definition at line 343 of file main.cpp.

BCAP_HRESULT DensoController::bCapGetRobot

(

)

[inline]

Definition at line 172 of file main.cpp.

BCAP_HRESULT DensoController::bCapGiveArm

(

)

[inline]

Definition at line 209 of file main.cpp.

void DensoController::bCapInitializeVariableHandlers

(

)

[inline]

Definition at line 233 of file main.cpp.

BCAP_HRESULT DensoController::bCapMotor

(

bool

command

)

[inline]

Definition at line 381 of file main.cpp.

BCAP_HRESULT DensoController::bCapOpen

(

)

[inline]

Open a bCap socket.

Definition at line 134 of file main.cpp.

BCAP_HRESULT DensoController::bCapReflectRealState

(

)

[inline]

Definition at line 575 of file main.cpp.

BCAP_HRESULT DensoController::bCapReleaseRobot

(

)

[inline]

Definition at line 180 of file main.cpp.

BCAP_HRESULT DensoController::bCapRobotExecute	(	char *	command,
		char *	arg
	)		[inline]

Definition at line 187 of file main.cpp.

u_int DensoController::bCapRobotGetVariable

(

const std::string &

varname

)

[inline]

Definition at line 284 of file main.cpp.

BCAP_HRESULT DensoController::bCapRobotSlvMove	(	BCAP_VARIANT *	pose,
		BCAP_VARIANT *	result
	)		[inline]

Definition at line 428 of file main.cpp.

BCAP_HRESULT DensoController::bCapServerStart

(

)

[inline]

Definition at line 1151 of file main.cpp.

BCAP_HRESULT DensoController::bCapServerStop

(

)

[inline]

Definition at line 1156 of file main.cpp.

BCAP_HRESULT DensoController::bCapSetExternalSpeed

(

float

arg

)

[inline]

Definition at line 217 of file main.cpp.

BCAP_HRESULT DensoController::bCapSlvChangeMode

(

u_int

arg

)

[inline]

Definition at line 414 of file main.cpp.

BCAP_HRESULT DensoController::bCapTakearm

(

)

[inline]

Definition at line 195 of file main.cpp.

virtual void DensoController::finalizeHW

(

)

[inline, virtual]

Implements OpenControllersInterface::OpenController.

Definition at line 591 of file main.cpp.

void DensoController::initializeCM

(

)

[inline, virtual]

Implements OpenControllersInterface::OpenController.

Definition at line 1165 of file main.cpp.

void DensoController::initializeHW

(

)

[inline, virtual]

Implements OpenControllersInterface::OpenController.

Definition at line 1183 of file main.cpp.

void DensoController::initializeROS

(

ros::NodeHandle &

node

)

[inline, virtual]

Implements OpenControllersInterface::OpenController.

Definition at line 1304 of file main.cpp.

void DensoController::quitRequest

(

)

[inline, virtual]

Reimplemented from OpenControllersInterface::OpenController.

Definition at line 1337 of file main.cpp.

OpenControllersInterface::ControllerStatusPtr DensoController::recoverController

(

)

[inline, virtual]

Implements OpenControllersInterface::OpenController.

Definition at line 805 of file main.cpp.

void DensoController::setUDPTimeout	(	long	sec,
		long	usec
	)		[inline]

Definition at line 1134 of file main.cpp.

void DensoController::start

(

)

[inline]

Reimplemented from OpenControllersInterface::OpenController.

Definition at line 110 of file main.cpp.

OpenControllersInterface::ControllerStatusPtr DensoController::updateJoints

(

struct timespec *

spec_result

)

[inline, virtual]

Implements OpenControllersInterface::OpenController.

Definition at line 676 of file main.cpp.

---

Member Data Documentation

u_int DensoController::__errorcode__

Definition at line 325 of file main.cpp.

char DensoController::errdesc_buffer_[2048] [private]

Definition at line 124 of file main.cpp.

int DensoController::iSockFD_ [private]

Definition at line 118 of file main.cpp.

u_int DensoController::lhController_ [private]

Definition at line 119 of file main.cpp.

u_int DensoController::lhRobot_ [private]

Definition at line 120 of file main.cpp.

std::vector<double> DensoController::prev_angle_ [private]

Definition at line 126 of file main.cpp.

struct timespec DensoController::prev_time_ [private]

Definition at line 128 of file main.cpp.

std::vector<double> DensoController::prev_vel_ [private]

Definition at line 127 of file main.cpp.

std::string DensoController::server_ip_address_ [private]

Definition at line 115 of file main.cpp.

int DensoController::server_port_number_ [private]

Definition at line 116 of file main.cpp.

int DensoController::udp_timeout_ [private]

Definition at line 121 of file main.cpp.

std::map<std::string, u_int> DensoController::var_handlers_ [private]

Definition at line 122 of file main.cpp.

std::map<std::string, u_short> DensoController::var_types_ [private]

Definition at line 123 of file main.cpp.

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The documentation for this class was generated from the following file:

• main.cpp