epos_hardware::Epos Class Reference

#include <epos.h>

List of all members.

Public Types
enum	OperationMode { PROFILE_POSITION_MODE = 1, PROFILE_VELOCITY_MODE = 3 }
Public Member Functions
std::string	actuator_name ()
	Epos (const std::string &name, ros::NodeHandle &nh, ros::NodeHandle &config_nh, EposFactory *epos_factory, hardware_interface::ActuatorStateInterface &asi, hardware_interface::VelocityActuatorInterface &avi, hardware_interface::PositionActuatorInterface &api)
bool	init ()
std::string	name ()
void	read ()
void	update_diagnostics ()
void	write ()
	~Epos ()
Private Member Functions
void	buildMotorOutputStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
void	buildMotorStatus (diagnostic_updater::DiagnosticStatusWrapper &stat)
Private Attributes
std::string	actuator_name_
ros::NodeHandle	config_nh_
double	current_
diagnostic_updater::Updater	diagnostic_updater_
double	effort_
EposFactory *	epos_factory_
bool	halt_velocity_
bool	has_init_
double	max_current_
int	max_profile_velocity_
std::string	name_
NodeHandlePtr	node_handle_
double	nominal_current_
OperationMode	operation_mode_
double	position_
double	position_cmd_
uint64_t	serial_number_
uint16_t	statusword_
double	torque_constant_
bool	valid_
double	velocity_
double	velocity_cmd_

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Detailed Description

Definition at line 24 of file epos.h.

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Member Enumeration Documentation

enum epos_hardware::Epos::OperationMode

Enumerator:

PROFILE_POSITION_MODE
PROFILE_VELOCITY_MODE

Definition at line 26 of file epos.h.

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Constructor & Destructor Documentation

epos_hardware::Epos::Epos	(	const std::string &	name,
		ros::NodeHandle &	nh,
		ros::NodeHandle &	config_nh,
		EposFactory *	epos_factory,
		hardware_interface::ActuatorStateInterface &	asi,
		hardware_interface::VelocityActuatorInterface &	avi,
		hardware_interface::PositionActuatorInterface &	api
	)

Definition at line 6 of file epos.cpp.

epos_hardware::Epos::~Epos

(

)

Definition at line 69 of file epos.cpp.

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Member Function Documentation

std::string epos_hardware::Epos::actuator_name

(

)

[inline]

Definition at line 42 of file epos.h.

void epos_hardware::Epos::buildMotorOutputStatus

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[private]

Definition at line 649 of file epos.cpp.

void epos_hardware::Epos::buildMotorStatus

(

diagnostic_updater::DiagnosticStatusWrapper &

stat

)

[private]

Definition at line 577 of file epos.cpp.

bool epos_hardware::Epos::init

(

)

Definition at line 134 of file epos.cpp.

std::string epos_hardware::Epos::name

(

)

[inline]

Definition at line 41 of file epos.h.

void epos_hardware::Epos::read

(

)

Definition at line 521 of file epos.cpp.

void epos_hardware::Epos::update_diagnostics

(

)

Definition at line 574 of file epos.cpp.

void epos_hardware::Epos::write

(

)

Definition at line 544 of file epos.cpp.

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Member Data Documentation

std::string epos_hardware::Epos::actuator_name_ [private]

Definition at line 49 of file epos.h.

ros::NodeHandle epos_hardware::Epos::config_nh_ [private]

Definition at line 45 of file epos.h.

double epos_hardware::Epos::current_ [private]

Definition at line 59 of file epos.h.

diagnostic_updater::Updater epos_hardware::Epos::diagnostic_updater_ [private]

Definition at line 46 of file epos.h.

double epos_hardware::Epos::effort_ [private]

Definition at line 58 of file epos.h.

EposFactory* epos_hardware::Epos::epos_factory_ [private]

Definition at line 47 of file epos.h.

bool epos_hardware::Epos::halt_velocity_ [private]

Definition at line 65 of file epos.h.

bool epos_hardware::Epos::has_init_ [private]

Definition at line 54 of file epos.h.

double epos_hardware::Epos::max_current_ [private]

Definition at line 68 of file epos.h.

int epos_hardware::Epos::max_profile_velocity_ [private]

Definition at line 64 of file epos.h.

std::string epos_hardware::Epos::name_ [private]

Definition at line 48 of file epos.h.

NodeHandlePtr epos_hardware::Epos::node_handle_ [private]

Definition at line 52 of file epos.h.

double epos_hardware::Epos::nominal_current_ [private]

Definition at line 67 of file epos.h.

OperationMode epos_hardware::Epos::operation_mode_ [private]

Definition at line 51 of file epos.h.

double epos_hardware::Epos::position_ [private]

Definition at line 56 of file epos.h.

double epos_hardware::Epos::position_cmd_ [private]

Definition at line 62 of file epos.h.

uint64_t epos_hardware::Epos::serial_number_ [private]

Definition at line 50 of file epos.h.

uint16_t epos_hardware::Epos::statusword_ [private]

Definition at line 60 of file epos.h.

double epos_hardware::Epos::torque_constant_ [private]

Definition at line 66 of file epos.h.

bool epos_hardware::Epos::valid_ [private]

Definition at line 53 of file epos.h.

double epos_hardware::Epos::velocity_ [private]

Definition at line 57 of file epos.h.

double epos_hardware::Epos::velocity_cmd_ [private]

Definition at line 63 of file epos.h.

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

• epos.h
• epos.cpp