kuka_eki_hw_interface::KukaEkiHardwareInterface Class Reference

#include <kuka_eki_hw_interface.h>

Inheritance diagram for kuka_eki_hw_interface::KukaEkiHardwareInterface:

List of all members.

Public Member Functions
void	init ()
	KukaEkiHardwareInterface ()
void	read (const ros::Time &time, const ros::Duration &period)
void	start ()
void	write (const ros::Time &time, const ros::Duration &period)
	~KukaEkiHardwareInterface ()
Private Member Functions
void	eki_check_read_state_deadline ()
bool	eki_read_state (std::vector< double > &joint_position, std::vector< double > &joint_velocity, std::vector< double > &joint_effort, int &cmd_buff_len)
bool	eki_write_command (const std::vector< double > &joint_position)
Static Private Member Functions
static void	eki_handle_receive (const boost::system::error_code &ec, size_t length, boost::system::error_code *out_ec, size_t *out_length)
Private Attributes
ros::Duration	control_period_
boost::asio::deadline_timer	deadline_
int	eki_cmd_buff_len_
int	eki_max_cmd_buff_len_ = 5
int	eki_read_state_timeout_ = 5
std::string	eki_server_address_
boost::asio::ip::udp::endpoint	eki_server_endpoint_
std::string	eki_server_port_
boost::asio::ip::udp::socket	eki_server_socket_
ros::Duration	elapsed_time_
boost::asio::io_service	ios_
std::vector< double >	joint_effort_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
hardware_interface::JointStateInterface	joint_state_interface_
std::vector< double >	joint_velocity_
double	loop_hz_
const unsigned int	n_dof_ = 6
ros::NodeHandle	nh_
hardware_interface::PositionJointInterface	position_joint_interface_

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Detailed Description

Definition at line 53 of file kuka_eki_hw_interface.h.

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Constructor & Destructor Documentation

kuka_eki_hw_interface::KukaEkiHardwareInterface::KukaEkiHardwareInterface

(

)

Definition at line 49 of file kuka_eki_hw_interface.cpp.

kuka_eki_hw_interface::KukaEkiHardwareInterface::~KukaEkiHardwareInterface

(

)

Definition at line 57 of file kuka_eki_hw_interface.cpp.

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Member Function Documentation

void kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_check_read_state_deadline

(

)

[private]

Definition at line 60 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_handle_receive	(	const boost::system::error_code &	ec,
		size_t	length,
		boost::system::error_code *	out_ec,
		size_t *	out_length
	)		[static, private]

Definition at line 74 of file kuka_eki_hw_interface.cpp.

bool kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_read_state	(	std::vector< double > &	joint_position,
		std::vector< double > &	joint_velocity,
		std::vector< double > &	joint_effort,
		int &	cmd_buff_len
	)		[private]

Definition at line 82 of file kuka_eki_hw_interface.cpp.

bool kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_write_command

(

const std::vector< double > &

joint_position

)

[private]

Definition at line 143 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::init

(

)

Definition at line 170 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

Definition at line 275 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::start

(

)

Definition at line 245 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

Definition at line 288 of file kuka_eki_hw_interface.cpp.

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Member Data Documentation

ros::Duration kuka_eki_hw_interface::KukaEkiHardwareInterface::control_period_ [private]

Definition at line 72 of file kuka_eki_hw_interface.h.

boost::asio::deadline_timer kuka_eki_hw_interface::KukaEkiHardwareInterface::deadline_ [private]

Definition at line 83 of file kuka_eki_hw_interface.h.

int kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_cmd_buff_len_ [private]

Definition at line 68 of file kuka_eki_hw_interface.h.

int kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_max_cmd_buff_len_ = 5 [private]

Definition at line 69 of file kuka_eki_hw_interface.h.

int kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_read_state_timeout_ = 5 [private]

Definition at line 81 of file kuka_eki_hw_interface.h.

std::string kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_address_ [private]

Definition at line 66 of file kuka_eki_hw_interface.h.

boost::asio::ip::udp::endpoint kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_endpoint_ [private]

Definition at line 84 of file kuka_eki_hw_interface.h.

std::string kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_port_ [private]

Definition at line 67 of file kuka_eki_hw_interface.h.

boost::asio::ip::udp::socket kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_socket_ [private]

Definition at line 85 of file kuka_eki_hw_interface.h.

ros::Duration kuka_eki_hw_interface::KukaEkiHardwareInterface::elapsed_time_ [private]

Definition at line 73 of file kuka_eki_hw_interface.h.

boost::asio::io_service kuka_eki_hw_interface::KukaEkiHardwareInterface::ios_ [private]

Definition at line 82 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_effort_ [private]

Definition at line 62 of file kuka_eki_hw_interface.h.

std::vector<std::string> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_names_ [private]

Definition at line 59 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_position_ [private]

Definition at line 60 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_position_command_ [private]

Definition at line 63 of file kuka_eki_hw_interface.h.

hardware_interface::JointStateInterface kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_state_interface_ [private]

Definition at line 77 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_velocity_ [private]

Definition at line 61 of file kuka_eki_hw_interface.h.

double kuka_eki_hw_interface::KukaEkiHardwareInterface::loop_hz_ [private]

Definition at line 74 of file kuka_eki_hw_interface.h.

const unsigned int kuka_eki_hw_interface::KukaEkiHardwareInterface::n_dof_ = 6 [private]

Definition at line 58 of file kuka_eki_hw_interface.h.

ros::NodeHandle kuka_eki_hw_interface::KukaEkiHardwareInterface::nh_ [private]

Definition at line 56 of file kuka_eki_hw_interface.h.

hardware_interface::PositionJointInterface kuka_eki_hw_interface::KukaEkiHardwareInterface::position_joint_interface_ [private]

Definition at line 78 of file kuka_eki_hw_interface.h.

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

• kuka_eki_hw_interface.h
• kuka_eki_hw_interface.cpp