#include <open_controllers_interface.h>

Public Member Functions
void	cleanupPidFile ()
void	diagnosticLoop ()
void	finalize ()
virtual void	finalizeHW ()=0
bool	haltMotorsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	initialize ()
void	loadRobotDescription ()
	OpenController ()
void	parseArguments (int argc, char **argv)
bool	publishTraceService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
virtual void	quitRequest ()
virtual ControllerStatusPtr	recoverController ()=0
bool	resetMotorsService (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	setAllowUnprogrammedP (bool val)
bool	setDryRun (bool _dryrun)
void	setRobotXMLFile (std::string val)
void	setStatsPublishP (bool val)
int	setupPidFile ()
void	start ()
void	startMain ()
virtual ControllerStatusPtr	updateJoints (struct timespec *)=0
void	Usage (std::string msg="")
int	waitThreadJoin ()
virtual	~OpenController ()
Static Public Member Functions
static bool	initRT ()
Protected Member Functions
virtual void	initializeCM ()=0
virtual void	initializeHW ()=0
virtual void	initializeROS (ros::NodeHandle &node)=0
int	lock_fd (int fd)
double	now ()
void	publishDiagnostics ()
double	publishJitter (double start)
void	timespecInc (struct timespec &tick, int nsec)
Protected Attributes
bool	allow_unprogrammed_p_
boost::shared_ptr < pr2_controller_manager::ControllerManager >	cm_
bool	dryrunp_
bool	g_halt_requested_
bool	g_publish_trace_requested_
bool	g_quit_
bool	g_reset_motors_
std::string	g_robot_desc_
Stat	g_stats_
ros::ServiceServer	halt_service_
pr2_hardware_interface::HardwareInterface *	hw_
double	min_acceptable_rt_loop_frequency_
bool	not_sleep_clock_
double	period_
std::string	piddir_
std::string	pidfile_
boost::shared_ptr < realtime_tools::RealtimePublisher < diagnostic_msgs::DiagnosticArray > >	publisher_
ros::ServiceServer	publishTrace_service_
ros::ServiceServer	reset_service_
std::string	robot_xml_file_
boost::shared_ptr < realtime_tools::RealtimePublisher < std_msgs::Float64 > >	rtpublisher_
bool	stats_publish_p_

Detailed Description

Definition at line 60 of file open_controllers_interface.h.

Constructor & Destructor Documentation

OpenControllersInterface::OpenController::OpenController ( )

Definition at line 59 of file open_controllers_interface.cpp.

OpenControllersInterface::OpenController::~OpenController ( ) [virtual]

Definition at line 63 of file open_controllers_interface.cpp.

Member Function Documentation

void OpenControllersInterface::OpenController::cleanupPidFile ( )

Definition at line 677 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::diagnosticLoop ( )

Definition at line 578 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::finalize ( )

Definition at line 555 of file open_controllers_interface.cpp.

virtual void OpenControllersInterface::OpenController::finalizeHW ( ) [pure virtual]

bool OpenControllersInterface::OpenController::haltMotorsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 72 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::initialize ( )

Definition at line 217 of file open_controllers_interface.cpp.

virtual void OpenControllersInterface::OpenController::initializeCM ( ) [protected, pure virtual]

virtual void OpenControllersInterface::OpenController::initializeHW ( ) [protected, pure virtual]

virtual void OpenControllersInterface::OpenController::initializeROS ( ros::NodeHandle & node ) [protected, pure virtual]

bool OpenControllersInterface::OpenController::initRT ( ) [static]

Definition at line 699 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::loadRobotDescription ( )

Definition at line 304 of file open_controllers_interface.cpp.

int OpenControllersInterface::OpenController::lock_fd ( int fd ) [protected]

Definition at line 589 of file open_controllers_interface.cpp.

double OpenControllersInterface::OpenController::now ( ) [protected]

Definition at line 346 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::parseArguments	(	int	argc,
		char **	argv
	)

Definition at line 183 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::publishDiagnostics ( ) [protected]

Definition at line 105 of file open_controllers_interface.cpp.

double OpenControllersInterface::OpenController::publishJitter ( double start ) [protected]

Definition at line 361 of file open_controllers_interface.cpp.

bool OpenControllersInterface::OpenController::publishTraceService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 78 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::quitRequest ( ) [virtual]

Definition at line 695 of file open_controllers_interface.cpp.

virtual ControllerStatusPtr OpenControllersInterface::OpenController::recoverController ( ) [pure virtual]

bool OpenControllersInterface::OpenController::resetMotorsService	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

Definition at line 66 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::setAllowUnprogrammedP ( bool val ) [inline]

Definition at line 70 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::setDryRun ( bool _dryrun ) [inline]

Definition at line 82 of file open_controllers_interface.h.

void OpenControllersInterface::OpenController::setRobotXMLFile ( std::string val ) [inline]

Definition at line 78 of file open_controllers_interface.h.

void OpenControllersInterface::OpenController::setStatsPublishP ( bool val ) [inline]

Definition at line 74 of file open_controllers_interface.h.

int OpenControllersInterface::OpenController::setupPidFile ( )

Definition at line 602 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::start ( )

Definition at line 88 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::startMain ( )

Definition at line 378 of file open_controllers_interface.cpp.

void OpenControllersInterface::OpenController::timespecInc	(	struct timespec &	tick,
		int	nsec
	)		`[protected]`

Definition at line 352 of file open_controllers_interface.cpp.

virtual ControllerStatusPtr OpenControllersInterface::OpenController::updateJoints ( struct timespec * ) [pure virtual]

void OpenControllersInterface::OpenController::Usage ( std::string msg = "" )

Definition at line 682 of file open_controllers_interface.cpp.

int OpenControllersInterface::OpenController::waitThreadJoin ( ) [inline]

Definition at line 89 of file open_controllers_interface.h.

Member Data Documentation

bool OpenControllersInterface::OpenController::allow_unprogrammed_p_ [protected]

Definition at line 130 of file open_controllers_interface.h.

boost::shared_ptr<pr2_controller_manager::ControllerManager> OpenControllersInterface::OpenController::cm_ [protected]

Definition at line 141 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::dryrunp_ [protected]

Definition at line 128 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::g_halt_requested_ [protected]

Definition at line 133 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::g_publish_trace_requested_ [protected]

Definition at line 135 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::g_quit_ [protected]

Definition at line 133 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::g_reset_motors_ [protected]

Definition at line 132 of file open_controllers_interface.h.

std::string OpenControllersInterface::OpenController::g_robot_desc_ [protected]

Definition at line 139 of file open_controllers_interface.h.

Stat OpenControllersInterface::OpenController::g_stats_ [protected]

Definition at line 144 of file open_controllers_interface.h.

ros::ServiceServer OpenControllersInterface::OpenController::halt_service_ [protected]

Definition at line 147 of file open_controllers_interface.h.

pr2_hardware_interface::HardwareInterface* OpenControllersInterface::OpenController::hw_ [protected]

Definition at line 140 of file open_controllers_interface.h.

double OpenControllersInterface::OpenController::min_acceptable_rt_loop_frequency_ [protected]

Definition at line 137 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::not_sleep_clock_ [protected]

Definition at line 129 of file open_controllers_interface.h.

double OpenControllersInterface::OpenController::period_ [protected]

Definition at line 138 of file open_controllers_interface.h.

std::string OpenControllersInterface::OpenController::piddir_ [protected]

Definition at line 126 of file open_controllers_interface.h.

std::string OpenControllersInterface::OpenController::pidfile_ [protected]

Definition at line 127 of file open_controllers_interface.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<diagnostic_msgs::DiagnosticArray> > OpenControllersInterface::OpenController::publisher_ [protected]

Definition at line 143 of file open_controllers_interface.h.

ros::ServiceServer OpenControllersInterface::OpenController::publishTrace_service_ [protected]

Definition at line 148 of file open_controllers_interface.h.

ros::ServiceServer OpenControllersInterface::OpenController::reset_service_ [protected]

Definition at line 146 of file open_controllers_interface.h.

std::string OpenControllersInterface::OpenController::robot_xml_file_ [protected]

Definition at line 136 of file open_controllers_interface.h.

boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Float64> > OpenControllersInterface::OpenController::rtpublisher_ [protected]

Definition at line 142 of file open_controllers_interface.h.

bool OpenControllersInterface::OpenController::stats_publish_p_ [protected]

Definition at line 131 of file open_controllers_interface.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation