transmission_interface::RequisiteProvider Class Reference

#include <transmission_interface_loader.h>

Inheritance diagram for transmission_interface::RequisiteProvider:

List of all members.

Classes
struct	TransmissionHandleData
Public Member Functions
bool	loadTransmissionMaps (const TransmissionInfo &transmission_info, TransmissionLoaderData &loader_data, TransmissionSharedPtr transmission)
virtual bool	updateJointInterfaces (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map)=0
	Update a robot's joint interfaces with joint information contained in a transmission.
virtual	~RequisiteProvider ()
Protected Member Functions
virtual bool	getActuatorCommandData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_cmd_data)=0
template<class HardwareInterface , class Handle >
bool	getActuatorHandles (const std::vector< ActuatorInfo > &actuators_info, hardware_interface::RobotHW *robot_hw, std::vector< Handle > &handles)
virtual bool	getActuatorStateData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data)=0
virtual bool	getJointCommandData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_cmd_data)=0
virtual bool	getJointStateData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data)=0
virtual bool	registerTransmission (TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data)=0
Static Protected Member Functions
template<class Interface >
static bool	hasResource (const std::string &name, const Interface &iface)

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Detailed Description

Definition at line 165 of file transmission_interface_loader.h.

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Constructor & Destructor Documentation

virtual transmission_interface::RequisiteProvider::~RequisiteProvider

(

)

[inline, virtual]

Definition at line 169 of file transmission_interface_loader.h.

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Member Function Documentation

virtual bool transmission_interface::RequisiteProvider::getActuatorCommandData	(	const TransmissionInfo &	transmission_info,
		hardware_interface::RobotHW *	robot_hw,
		ActuatorData &	act_cmd_data
	)		[protected, pure virtual]

Implemented in transmission_interface::JointStateInterfaceProvider, transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

template<class HardwareInterface , class Handle >

bool transmission_interface::RequisiteProvider::getActuatorHandles	(	const std::vector< ActuatorInfo > &	actuators_info,
		hardware_interface::RobotHW *	robot_hw,
		std::vector< Handle > &	handles
	)		[inline, protected]

Definition at line 245 of file transmission_interface_loader.h.

virtual bool transmission_interface::RequisiteProvider::getActuatorStateData	(	const TransmissionInfo &	transmission_info,
		hardware_interface::RobotHW *	robot_hw,
		ActuatorData &	act_state_data
	)		[protected, pure virtual]

Implemented in transmission_interface::JointStateInterfaceProvider.

virtual bool transmission_interface::RequisiteProvider::getJointCommandData	(	const TransmissionInfo &	transmission_info,
		const RawJointDataMap &	raw_joint_data_map,
		JointData &	jnt_cmd_data
	)		[protected, pure virtual]

Implemented in transmission_interface::JointStateInterfaceProvider, transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

virtual bool transmission_interface::RequisiteProvider::getJointStateData	(	const TransmissionInfo &	transmission_info,
		const RawJointDataMap &	raw_joint_data_map,
		JointData &	jnt_state_data
	)		[protected, pure virtual]

Implemented in transmission_interface::JointStateInterfaceProvider.

template<class Interface >

static bool transmission_interface::RequisiteProvider::hasResource	(	const std::string &	name,
		const Interface &	iface
	)		[inline, static, protected]

Definition at line 224 of file transmission_interface_loader.h.

bool transmission_interface::RequisiteProvider::loadTransmissionMaps	(	const TransmissionInfo &	transmission_info,
		TransmissionLoaderData &	loader_data,
		TransmissionSharedPtr	transmission
	)

Definition at line 39 of file transmission_interface_loader.cpp.

virtual bool transmission_interface::RequisiteProvider::registerTransmission	(	TransmissionLoaderData &	loader_data,
		TransmissionHandleData &	handle_data
	)		[protected, pure virtual]

Implemented in transmission_interface::JointStateInterfaceProvider, transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

virtual bool transmission_interface::RequisiteProvider::updateJointInterfaces	(	const TransmissionInfo &	transmission_info,
		hardware_interface::RobotHW *	robot_hw,
		JointInterfaces &	joint_interfaces,
		RawJointDataMap &	raw_joint_data_map
	)		[pure virtual]

Update a robot's joint interfaces with joint information contained in a transmission.

Parameters:

[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.

Returns:

true if successful.

Implemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, transmission_interface::VelocityJointInterfaceProvider, and transmission_interface::JointStateInterfaceProvider.

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

• transmission_interface_loader.h
• transmission_interface_loader.cpp