JointControlActualSeriesElastic Class Reference

#include <JointControlActualSeriesElastic.h>

Inheritance diagram for JointControlActualSeriesElastic:

List of all members.

Public Member Functions
void	getFaults (diagnostic_msgs::DiagnosticStatus &faultStatus)
void	getStates (r2_msgs::JointControlData &actualStates)
	get the Command, Control, and Calibration Mode states, as well as the Coeff State
	JointControlActualSeriesElastic (const std::string &, IoFunctions, NodeRegisterManagerPtr)
	Constructor for JointControlActualFsmSeriesElastic.
void	updateCalibrationModeState (void)
	Update the calibration mode state.
void	updateClearFaultModeState (void)
	Update the clearFault mode state.
void	updateCoeffState (void)
	Update the coefficient state.
void	updateCommandModeState (void)
	Update the command mode state.
void	updateControlModeState (void)
	Update the control mode state.
virtual	~JointControlActualSeriesElastic ()
Protected Member Functions
void	setParameters ()
Protected Attributes
const std::string	logCategory
NodeRegisterManagerPtr	nodeRegisterManager
Private Attributes
std::string	Aps1TolFaultStatusName
std::string	Aps2TolFaultStatusName
std::string	ApsFaultStatusName
std::string	BrakeReleaseStatusName
std::string	BridgeEnableStatusName
std::string	BridgeFaultStatusName
std::string	BusVoltageFaultStatusName
std::string	CalibrationModeStatusName
std::string	ClearFaultStatusName
std::string	CoeffsLoadedStatusName
std::string	CommAliveStatusName
std::string	ControlModeStatusName
std::string	CurrentFaultStatusName
std::string	EncDriftFaultStatusName
std::string	JointFaultStatusName
std::string	LimitFaultStatusName
std::string	MotComSourceStatusName
std::string	MotorEnableStatusName
std::string	NotInBootloaderStatusName
std::string	PosComVelocityStatusName
std::string	ProcAliveStatusName
std::string	VelocityFaultStatusName

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Detailed Description

Definition at line 14 of file JointControlActualSeriesElastic.h.

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Constructor & Destructor Documentation

JointControlActualSeriesElastic::JointControlActualSeriesElastic	(	const std::string &	mechanism,
		IoFunctions	ioFunctions,
		NodeRegisterManagerPtr	nodeRegisterManager
	)

Constructor for JointControlActualFsmSeriesElastic.

Definition at line 11 of file JointControlActualSeriesElastic.cpp.

JointControlActualSeriesElastic::~JointControlActualSeriesElastic

(

)

[virtual]

Definition at line 17 of file JointControlActualSeriesElastic.cpp.

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Member Function Documentation

void JointControlActualSeriesElastic::getFaults

(

diagnostic_msgs::DiagnosticStatus &

faultStatus

)

[virtual]

Implements JointControlActualInterface.

Definition at line 396 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::getStates

(

r2_msgs::JointControlData &

actualStates

)

[virtual]

get the Command, Control, and Calibration Mode states, as well as the Coeff State

Returns:

The state information

Implements JointControlActualInterface.

Definition at line 94 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::setParameters

(

)

[protected, virtual]

Parse parameter file

Implements JointControlActualInterface.

Definition at line 21 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::updateCalibrationModeState

(

void

)

[virtual]

Update the calibration mode state.

Implements JointControlActualInterface.

Definition at line 322 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::updateClearFaultModeState

(

void

)

[virtual]

Update the clearFault mode state.

Implements JointControlActualInterface.

Definition at line 348 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::updateCoeffState

(

void

)

[virtual]

Update the coefficient state.

Implements JointControlActualInterface.

Definition at line 374 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::updateCommandModeState

(

void

)

[virtual]

Update the command mode state.

Implements JointControlActualInterface.

Definition at line 242 of file JointControlActualSeriesElastic.cpp.

void JointControlActualSeriesElastic::updateControlModeState

(

void

)

[virtual]

Update the control mode state.

Implements JointControlActualInterface.

Definition at line 108 of file JointControlActualSeriesElastic.cpp.

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Member Data Documentation

std::string JointControlActualSeriesElastic::Aps1TolFaultStatusName [private]

Definition at line 51 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::Aps2TolFaultStatusName [private]

Definition at line 52 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::ApsFaultStatusName [private]

Definition at line 50 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::BrakeReleaseStatusName [private]

Definition at line 40 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::BridgeEnableStatusName [private]

Definition at line 41 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::BridgeFaultStatusName [private]

Definition at line 48 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::BusVoltageFaultStatusName [private]

Definition at line 49 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::CalibrationModeStatusName [private]

Definition at line 45 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::ClearFaultStatusName [private]

Definition at line 46 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::CoeffsLoadedStatusName [private]

Definition at line 38 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::CommAliveStatusName [private]

Definition at line 36 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::ControlModeStatusName [private]

Definition at line 44 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::CurrentFaultStatusName [private]

Definition at line 56 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::EncDriftFaultStatusName [private]

Definition at line 53 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::JointFaultStatusName [private]

Definition at line 37 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::LimitFaultStatusName [private]

Definition at line 55 of file JointControlActualSeriesElastic.h.

const std::string JointControlActualSeriesElastic::logCategory [protected]

Definition at line 31 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::MotComSourceStatusName [private]

Definition at line 42 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::MotorEnableStatusName [private]

Definition at line 39 of file JointControlActualSeriesElastic.h.

NodeRegisterManagerPtr JointControlActualSeriesElastic::nodeRegisterManager [protected]

Definition at line 30 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::NotInBootloaderStatusName [private]

Definition at line 47 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::PosComVelocityStatusName [private]

Definition at line 43 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::ProcAliveStatusName [private]

Definition at line 35 of file JointControlActualSeriesElastic.h.

std::string JointControlActualSeriesElastic::VelocityFaultStatusName [private]

Definition at line 54 of file JointControlActualSeriesElastic.h.

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

• JointControlActualSeriesElastic.h
• JointControlActualSeriesElastic.cpp