ridgeback_base::RidgebackHardware Class Reference

#include <ridgeback_hardware.h>

Inheritance diagram for ridgeback_base::RidgebackHardware:

List of all members.

Classes
struct	Joint
Public Member Functions
void	canRead ()
void	canSend ()
void	command ()
void	configure ()
bool	connectIfNotConnected ()
std::vector < puma_motor_driver::Driver > &	getDrivers ()
void	init ()
bool	inReset ()
bool	isActive ()
void	powerHasNotReset ()
void	requestData ()
	RidgebackHardware (ros::NodeHandle &nh, ros::NodeHandle &pnh, puma_motor_driver::Gateway &gateway)
void	updateJointsFromHardware ()
void	verify ()
Private Attributes
bool	active_
std::vector < puma_motor_driver::Driver >	drivers_
int	encoder_cpr_
puma_motor_driver::Gateway &	gateway_
double	gear_ratio_
hardware_interface::JointStateInterface	joint_state_interface_
struct ridgeback_base::RidgebackHardware::Joint	joints_ [4]
boost::shared_ptr < puma_motor_driver::MultiDriverNode >	multi_driver_node_
ros::NodeHandle	nh_
ros::NodeHandle	pnh_
hardware_interface::VelocityJointInterface	velocity_joint_interface_

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Detailed Description

Definition at line 56 of file ridgeback_hardware.h.

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Constructor & Destructor Documentation

ridgeback_base::RidgebackHardware::RidgebackHardware	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	pnh,
		puma_motor_driver::Gateway &	gateway
	)

Definition at line 45 of file ridgeback_hardware.cpp.

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Member Function Documentation

void ridgeback_base::RidgebackHardware::canRead

(

)

Definition at line 181 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::canSend

(

)

Definition at line 194 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::command

(

)

Populates and publishes Drive message based on the controller outputs.

Called from the controller thread.

Definition at line 221 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::configure

(

)

Definition at line 153 of file ridgeback_hardware.cpp.

bool ridgeback_base::RidgebackHardware::connectIfNotConnected

(

)

Definition at line 199 of file ridgeback_hardware.cpp.

std::vector< puma_motor_driver::Driver > & ridgeback_base::RidgebackHardware::getDrivers

(

)

Definition at line 231 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::init

(

)

Definition at line 173 of file ridgeback_hardware.cpp.

bool ridgeback_base::RidgebackHardware::inReset

(

)

Definition at line 168 of file ridgeback_hardware.cpp.

bool ridgeback_base::RidgebackHardware::isActive

(

)

Definition at line 103 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::powerHasNotReset

(

)

Definition at line 135 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::requestData

(

)

Definition at line 128 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::updateJointsFromHardware

(

)

Populates the internal joint state struct from the most recent CAN data received from the motor controller.

Called from the controller thread.

Definition at line 90 of file ridgeback_hardware.cpp.

void ridgeback_base::RidgebackHardware::verify

(

)

Definition at line 160 of file ridgeback_hardware.cpp.

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Member Data Documentation

bool ridgeback_base::RidgebackHardware::active_ [private]

Definition at line 85 of file ridgeback_hardware.h.

std::vector<puma_motor_driver::Driver> ridgeback_base::RidgebackHardware::drivers_ [private]

Definition at line 82 of file ridgeback_hardware.h.

int ridgeback_base::RidgebackHardware::encoder_cpr_ [private]

Definition at line 87 of file ridgeback_hardware.h.

puma_motor_driver::Gateway& ridgeback_base::RidgebackHardware::gateway_ [private]

Definition at line 81 of file ridgeback_hardware.h.

double ridgeback_base::RidgebackHardware::gear_ratio_ [private]

Definition at line 86 of file ridgeback_hardware.h.

hardware_interface::JointStateInterface ridgeback_base::RidgebackHardware::joint_state_interface_ [private]

Definition at line 90 of file ridgeback_hardware.h.

struct ridgeback_base::RidgebackHardware::Joint ridgeback_base::RidgebackHardware::joints_[4] [private]

boost::shared_ptr<puma_motor_driver::MultiDriverNode> ridgeback_base::RidgebackHardware::multi_driver_node_ [private]

Definition at line 83 of file ridgeback_hardware.h.

ros::NodeHandle ridgeback_base::RidgebackHardware::nh_ [private]

Definition at line 79 of file ridgeback_hardware.h.

ros::NodeHandle ridgeback_base::RidgebackHardware::pnh_ [private]

Definition at line 79 of file ridgeback_hardware.h.

hardware_interface::VelocityJointInterface ridgeback_base::RidgebackHardware::velocity_joint_interface_ [private]

Definition at line 91 of file ridgeback_hardware.h.

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

• ridgeback_hardware.h
• ridgeback_hardware.cpp