ros_ethercat_model::CustomHW Class Reference

#include <hardware_interface.hpp>

List of all members.

Public Member Functions
virtual void	read (const ros::Time &time)
virtual void	write (const ros::Time &time)
virtual	~CustomHW ()

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Detailed Description

The CustomHW class provides an easy way to add more hardware to the HardwareInterface. Inherit from that class to add a new type of hardware, containing the data you want. If the hardware doesn't use EtherCAT, constructor and destructor should initialize drivers to communicate with hardware and read and write functions must be implemented accordingly. The read and write functions will be called by RosEthercat functions with same names

Definition at line 117 of file hardware_interface.hpp.

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Constructor & Destructor Documentation

virtual ros_ethercat_model::CustomHW::~CustomHW

(

)

[inline, virtual]

Definition at line 120 of file hardware_interface.hpp.

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Member Function Documentation

virtual void ros_ethercat_model::CustomHW::read

(

const ros::Time &

time

)

[inline, virtual]

Definition at line 121 of file hardware_interface.hpp.

virtual void ros_ethercat_model::CustomHW::write

(

const ros::Time &

time

)

[inline, virtual]

Definition at line 122 of file hardware_interface.hpp.

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

• hardware_interface.hpp