jackal_base::JackalHardware Class Reference

#include <jackal_hardware.h>

Inheritance diagram for jackal_base::JackalHardware:

List of all members.

Classes
struct	Joint
Public Member Functions
void	copyJointsFromHardware ()
	JackalHardware ()
void	publishDriveFromController ()
Private Member Functions
void	feedbackCallback (const jackal_msgs::Feedback::ConstPtr &msg)
Private Attributes
realtime_tools::RealtimePublisher < jackal_msgs::Drive >	cmd_drive_pub_
jackal_msgs::Feedback::ConstPtr	feedback_msg_
boost::mutex	feedback_msg_mutex_
ros::Subscriber	feedback_sub_
hardware_interface::JointStateInterface	joint_state_interface_
struct jackal_base::JackalHardware::Joint	joints_ [4]
ros::NodeHandle	nh_
hardware_interface::VelocityJointInterface	velocity_joint_interface_

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Detailed Description

Definition at line 51 of file jackal_hardware.h.

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Constructor & Destructor Documentation

jackal_base::JackalHardware::JackalHardware

(

)

Definition at line 40 of file jackal_hardware.cpp.

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Member Function Documentation

void jackal_base::JackalHardware::copyJointsFromHardware

(

)

Populates the internal joint state struct from the most recent Feedback message received from the MCU.

Called from the controller thread.

Definition at line 70 of file jackal_hardware.cpp.

void jackal_base::JackalHardware::feedbackCallback

(

const jackal_msgs::Feedback::ConstPtr &

msg

)

[private]

Definition at line 100 of file jackal_hardware.cpp.

void jackal_base::JackalHardware::publishDriveFromController

(

)

Populates and publishes Drive message based on the controller outputs.

Called from the controller thread.

Definition at line 89 of file jackal_hardware.cpp.

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Member Data Documentation

realtime_tools::RealtimePublisher<jackal_msgs::Drive> jackal_base::JackalHardware::cmd_drive_pub_ [private]

Definition at line 63 of file jackal_hardware.h.

jackal_msgs::Feedback::ConstPtr jackal_base::JackalHardware::feedback_msg_ [private]

Definition at line 83 of file jackal_hardware.h.

boost::mutex jackal_base::JackalHardware::feedback_msg_mutex_ [private]

Definition at line 84 of file jackal_hardware.h.

ros::Subscriber jackal_base::JackalHardware::feedback_sub_ [private]

Definition at line 62 of file jackal_hardware.h.

hardware_interface::JointStateInterface jackal_base::JackalHardware::joint_state_interface_ [private]

Definition at line 65 of file jackal_hardware.h.

struct jackal_base::JackalHardware::Joint jackal_base::JackalHardware::joints_[4] [private]

ros::NodeHandle jackal_base::JackalHardware::nh_ [private]

Definition at line 61 of file jackal_hardware.h.

hardware_interface::VelocityJointInterface jackal_base::JackalHardware::velocity_joint_interface_ [private]

Definition at line 66 of file jackal_hardware.h.

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

• jackal_hardware.h
• jackal_hardware.cpp