#include <yumi_hw.h>

Inheritance diagram for YumiHW:

Public Types
enum	ControlStrategy { JOINT_POSITION = 10, JOINT_VELOCITY = 15 }
Public Member Functions
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
void	create (std::string name, std::string urdf_string)
virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
void	enforceLimits (ros::Duration period)
ControlStrategy	getControlStrategy ()
virtual bool	init ()=0
virtual void	read (ros::Time time, ros::Duration period)=0
void	reset ()
void	setControlStrategy (ControlStrategy strategy)
virtual void	write (ros::Time time, ros::Duration period)=0
	YumiHW ()
virtual	~YumiHW ()
Public Attributes
ControlStrategy	current_strategy_
std::vector< double >	joint_effort_
std::vector< double >	joint_lower_limits_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
std::vector< double >	joint_position_prev_
std::vector< double >	joint_upper_limits_
std::vector< double >	joint_velocity_
std::vector< double >	joint_velocity_command_
int	n_joints_
joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_
joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_
hardware_interface::PositionJointInterface	position_interface_
std::string	robot_namespace_
hardware_interface::JointStateInterface	state_interface_
std::vector < transmission_interface::TransmissionInfo >	transmissions_
urdf::Model	urdf_model_
std::string	urdf_string_
hardware_interface::VelocityJointInterface	velocity_interface_
joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_
joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_
Private Member Functions
bool	parseTransmissionsFromURDF (const std::string &urdf_string)
void	registerInterfaces (const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle_position, const hardware_interface::JointHandle &joint_handle_velocity, const urdf::Model const urdf_model, double const lower_limit, double *const upper_limit)

Detailed Description

Base class for yumi hw interface. Extended later for gazebo and for real robot over rapid

Definition at line 34 of file yumi_hw.h.

Member Enumeration Documentation

enum YumiHW::ControlStrategy

Enumerator:

JOINT_POSITION
JOINT_VELOCITY

Definition at line 57 of file yumi_hw.h.

Constructor & Destructor Documentation

YumiHW::YumiHW ( ) [inline]

Definition at line 38 of file yumi_hw.h.

virtual YumiHW::~YumiHW ( ) [inline, virtual]

Definition at line 42 of file yumi_hw.h.

Member Function Documentation

bool YumiHW::canSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		const `[virtual]`

Reimplemented from hardware_interface::RobotHW.

Definition at line 315 of file yumi_hw.cpp.

void YumiHW::create	(	std::string	name,
		std::string	urdf_string
	)

Definition at line 3 of file yumi_hw.cpp.

void YumiHW::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		`[virtual]`

semantic Zero

call setCommand once so that the JointLimitsInterface receive the correct value on their getCommand()!

reset joint_limit_interfaces

Reimplemented from hardware_interface::RobotHW.

Definition at line 352 of file yumi_hw.cpp.

void YumiHW::enforceLimits ( ros::Duration period )

Definition at line 440 of file yumi_hw.cpp.

ControlStrategy YumiHW::getControlStrategy ( ) [inline]

Definition at line 68 of file yumi_hw.h.

virtual bool YumiHW::init ( ) [pure virtual]

Implemented in YumiHWRapid, and YumiHWGazebo.

bool YumiHW::parseTransmissionsFromURDF ( const std::string & urdf_string ) [private]

Definition at line 231 of file yumi_hw.cpp.

virtual void YumiHW::read	(	ros::Time	time,
		ros::Duration	period
	)		`[pure virtual]`

Implemented in YumiHWRapid, and YumiHWGazebo.

void YumiHW::registerInterfaces	(	const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)		`[private]`

Definition at line 85 of file yumi_hw.cpp.

void YumiHW::registerJointLimits	(	const std::string &	joint_name,
		const hardware_interface::JointHandle &	joint_handle_position,
		const hardware_interface::JointHandle &	joint_handle_velocity,
		const urdf::Model *const	urdf_model,
		double *const	lower_limit,
		double *const	upper_limit
	)		`[private]`