#include <joint_state_interface_provider.h>
Public Member Functions | |
bool | updateJointInterfaces (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map) |
Update a robot's joint interfaces with joint information contained in a transmission. | |
Protected Member Functions | |
bool | getActuatorCommandData (const TransmissionInfo &, hardware_interface::RobotHW *, ActuatorData &) |
bool | getActuatorStateData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data) |
bool | getJointCommandData (const TransmissionInfo &, const RawJointDataMap &, JointData &) |
bool | getJointStateData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data) |
bool | registerTransmission (TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data) |
Definition at line 40 of file joint_state_interface_provider.h.
bool transmission_interface::JointStateInterfaceProvider::getActuatorCommandData | ( | const TransmissionInfo & | , |
hardware_interface::RobotHW * | , | ||
ActuatorData & | |||
) | [inline, protected, virtual] |
Implements transmission_interface::RequisiteProvider.
Reimplemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.
Definition at line 61 of file joint_state_interface_provider.h.
bool transmission_interface::JointStateInterfaceProvider::getActuatorStateData | ( | const TransmissionInfo & | transmission_info, |
hardware_interface::RobotHW * | robot_hw, | ||
ActuatorData & | act_state_data | ||
) | [protected, virtual] |
Implements transmission_interface::RequisiteProvider.
Definition at line 96 of file joint_state_interface_provider.cpp.
bool transmission_interface::JointStateInterfaceProvider::getJointCommandData | ( | const TransmissionInfo & | , |
const RawJointDataMap & | , | ||
JointData & | |||
) | [inline, protected, virtual] |
Implements transmission_interface::RequisiteProvider.
Reimplemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.
Definition at line 53 of file joint_state_interface_provider.h.
bool transmission_interface::JointStateInterfaceProvider::getJointStateData | ( | const TransmissionInfo & | transmission_info, |
const RawJointDataMap & | raw_joint_data_map, | ||
JointData & | jnt_state_data | ||
) | [protected, virtual] |
Implements transmission_interface::RequisiteProvider.
Definition at line 71 of file joint_state_interface_provider.cpp.
bool transmission_interface::JointStateInterfaceProvider::registerTransmission | ( | TransmissionLoaderData & | loader_data, |
TransmissionHandleData & | handle_data | ||
) | [protected, virtual] |
Implements transmission_interface::RequisiteProvider.
Reimplemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.
Definition at line 125 of file joint_state_interface_provider.cpp.
bool transmission_interface::JointStateInterfaceProvider::updateJointInterfaces | ( | const TransmissionInfo & | transmission_info, |
hardware_interface::RobotHW * | robot_hw, | ||
JointInterfaces & | joint_interfaces, | ||
RawJointDataMap & | raw_joint_data_map | ||
) | [virtual] |
Update a robot's joint interfaces with joint information contained in a transmission.
[in] | transmission_info | Structure containing information of which joints to add. Only new, non-previously registered joints will be added. |
[out] | joint_ifaces | Joint interfaces where new joints will be added. It may already contain data, which will not be overwritten; only new joints will be added. |
raw_joint_data_map[out] | Structure where the raw data of new joints will reside. It may already contain data, which will not be overwritten; only new data will be added. |
Implements transmission_interface::RequisiteProvider.
Reimplemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.
Definition at line 38 of file joint_state_interface_provider.cpp.