kuka_rsi_hw_interface::KukaHardwareInterface Class Reference

#include <kuka_hardware_interface.h>

Inheritance diagram for kuka_rsi_hw_interface::KukaHardwareInterface:

List of all members.

Public Member Functions
void	configure ()
	KukaHardwareInterface ()
bool	read (const ros::Time time, const ros::Duration period)
void	start ()
bool	write (const ros::Time time, const ros::Duration period)
	~KukaHardwareInterface ()
Private Attributes
ros::Duration	control_period_
ros::Duration	elapsed_time_
std::string	in_buffer_
unsigned long long	ipoc_
std::vector< double >	joint_effort_
std::vector< double >	joint_effort_command_
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_
std::vector< double >	joint_velocity_command_
std::string	local_host_
int	local_port_
double	loop_hz_
unsigned int	n_dof_
ros::NodeHandle	nh_
std::string	out_buffer_
hardware_interface::PositionJointInterface	position_joint_interface_
std::string	remote_host_
std::string	remote_port_
RSICommand	rsi_command_
std::vector< double >	rsi_initial_joint_positions_
std::vector< double >	rsi_joint_position_corrections_
RSIState	rsi_state_
std::unique_ptr < realtime_tools::RealtimePublisher < std_msgs::String > >	rt_rsi_pub_
std::unique_ptr< UDPServer >	server_

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Detailed Description

Definition at line 75 of file kuka_hardware_interface.h.

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Constructor & Destructor Documentation

kuka_rsi_hw_interface::KukaHardwareInterface::KukaHardwareInterface

(

)

Definition at line 48 of file kuka_hardware_interface.cpp.

kuka_rsi_hw_interface::KukaHardwareInterface::~KukaHardwareInterface

(

)

Definition at line 87 of file kuka_hardware_interface.cpp.

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Member Function Documentation

void kuka_rsi_hw_interface::KukaHardwareInterface::configure

(

)

Definition at line 162 of file kuka_hardware_interface.cpp.

bool kuka_rsi_hw_interface::KukaHardwareInterface::read	(	const ros::Time	time,
		const ros::Duration	period
	)

Definition at line 92 of file kuka_hardware_interface.cpp.

void kuka_rsi_hw_interface::KukaHardwareInterface::start

(

)

Definition at line 131 of file kuka_hardware_interface.cpp.

bool kuka_rsi_hw_interface::KukaHardwareInterface::write	(	const ros::Time	time,
		const ros::Duration	period
	)

Definition at line 116 of file kuka_hardware_interface.cpp.

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Member Data Documentation

ros::Duration kuka_rsi_hw_interface::KukaHardwareInterface::control_period_ [private]

Definition at line 112 of file kuka_hardware_interface.h.

ros::Duration kuka_rsi_hw_interface::KukaHardwareInterface::elapsed_time_ [private]

Definition at line 113 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::in_buffer_ [private]

Definition at line 108 of file kuka_hardware_interface.h.

unsigned long long kuka_rsi_hw_interface::KukaHardwareInterface::ipoc_ [private]

Definition at line 99 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_effort_ [private]

Definition at line 89 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_effort_command_ [private]

Definition at line 92 of file kuka_hardware_interface.h.

std::vector<std::string> kuka_rsi_hw_interface::KukaHardwareInterface::joint_names_ [private]

Definition at line 85 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_position_ [private]

Definition at line 87 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_position_command_ [private]

Definition at line 90 of file kuka_hardware_interface.h.

hardware_interface::JointStateInterface kuka_rsi_hw_interface::KukaHardwareInterface::joint_state_interface_ [private]

Definition at line 117 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_velocity_ [private]

Definition at line 88 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_velocity_command_ [private]

Definition at line 91 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::local_host_ [private]

Definition at line 104 of file kuka_hardware_interface.h.

int kuka_rsi_hw_interface::KukaHardwareInterface::local_port_ [private]

Definition at line 105 of file kuka_hardware_interface.h.

double kuka_rsi_hw_interface::KukaHardwareInterface::loop_hz_ [private]

Definition at line 114 of file kuka_hardware_interface.h.

unsigned int kuka_rsi_hw_interface::KukaHardwareInterface::n_dof_ [private]

Definition at line 83 of file kuka_hardware_interface.h.

ros::NodeHandle kuka_rsi_hw_interface::KukaHardwareInterface::nh_ [private]

Definition at line 81 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::out_buffer_ [private]

Definition at line 109 of file kuka_hardware_interface.h.

hardware_interface::PositionJointInterface kuka_rsi_hw_interface::KukaHardwareInterface::position_joint_interface_ [private]

Definition at line 118 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::remote_host_ [private]

Definition at line 106 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::remote_port_ [private]

Definition at line 107 of file kuka_hardware_interface.h.

RSICommand kuka_rsi_hw_interface::KukaHardwareInterface::rsi_command_ [private]

Definition at line 96 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::rsi_initial_joint_positions_ [private]

Definition at line 97 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::rsi_joint_position_corrections_ [private]

Definition at line 98 of file kuka_hardware_interface.h.

RSIState kuka_rsi_hw_interface::KukaHardwareInterface::rsi_state_ [private]

Definition at line 95 of file kuka_hardware_interface.h.

std::unique_ptr<realtime_tools::RealtimePublisher<std_msgs::String> > kuka_rsi_hw_interface::KukaHardwareInterface::rt_rsi_pub_ [private]

Definition at line 101 of file kuka_hardware_interface.h.

std::unique_ptr<UDPServer> kuka_rsi_hw_interface::KukaHardwareInterface::server_ [private]

Definition at line 103 of file kuka_hardware_interface.h.

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

• kuka_hardware_interface.h
• kuka_hardware_interface.cpp