YumiHWRapid Class Reference

#include <yumi_hw_rapid.h>

Inheritance diagram for YumiHWRapid:

List of all members.

Public Member Functions
float	getSampleTime ()
bool	init ()
void	read (ros::Time time, ros::Duration period)
	copies the last received joint state out to the controller manager
void	setup (std::string ip_="", int port_=industrial::simple_socket::StandardSocketPorts::STATE)
void	write (ros::Time time, ros::Duration period)
	caches the most recent joint commands into the robot interface
	YumiHWRapid ()
	~YumiHWRapid ()
Private Attributes
boost::mutex	data_buffer_mutex
bool	firstRunInPositionMode
std::string	hintToRemoteHost_
std::string	ip
bool	isInited
bool	isSetup
float	last_comm [N_YUMI_JOINTS]
float	newJntPosition [N_YUMI_JOINTS]
	command buffers
int	port
float	readJntPosition [N_YUMI_JOINTS]
	data buffers
YumiRapidInterface	robot_interface
float	sampling_rate_

---

Detailed Description

Definition at line 232 of file yumi_hw_rapid.h.

---

Constructor & Destructor Documentation

YumiHWRapid::YumiHWRapid

(

)

[inline]

Definition at line 236 of file yumi_hw_rapid.h.

YumiHWRapid::~YumiHWRapid

(

)

[inline]

Definition at line 243 of file yumi_hw_rapid.h.

---

Member Function Documentation

float YumiHWRapid::getSampleTime

(

)

[inline]

Definition at line 247 of file yumi_hw_rapid.h.

bool YumiHWRapid::init

(

)

[inline, virtual]

Implements YumiHW.

Definition at line 256 of file yumi_hw_rapid.h.

void YumiHWRapid::read	(	ros::Time	time,
		ros::Duration	period
	)		[inline, virtual]

copies the last received joint state out to the controller manager

Implements YumiHW.

Definition at line 272 of file yumi_hw_rapid.h.

void YumiHWRapid::setup	(	std::string	ip_ = "",
		int	port_ = industrial::simple_socket::StandardSocketPorts::STATE
	)		[inline]

Definition at line 249 of file yumi_hw_rapid.h.

void YumiHWRapid::write	(	ros::Time	time,
		ros::Duration	period
	)		[inline, virtual]

caches the most recent joint commands into the robot interface

Implements YumiHW.

Definition at line 298 of file yumi_hw_rapid.h.

---

Member Data Documentation

boost::mutex YumiHWRapid::data_buffer_mutex [private]

Definition at line 350 of file yumi_hw_rapid.h.

bool YumiHWRapid::firstRunInPositionMode [private]

Definition at line 346 of file yumi_hw_rapid.h.

std::string YumiHWRapid::hintToRemoteHost_ [private]

Definition at line 344 of file yumi_hw_rapid.h.

std::string YumiHWRapid::ip [private]

Definition at line 356 of file yumi_hw_rapid.h.

bool YumiHWRapid::isInited [private]

Definition at line 346 of file yumi_hw_rapid.h.

bool YumiHWRapid::isSetup [private]

Definition at line 346 of file yumi_hw_rapid.h.

float YumiHWRapid::last_comm[N_YUMI_JOINTS] [private]

Definition at line 342 of file yumi_hw_rapid.h.

float YumiHWRapid::newJntPosition[N_YUMI_JOINTS] [private]

command buffers

Definition at line 352 of file yumi_hw_rapid.h.

int YumiHWRapid::port [private]

Definition at line 357 of file yumi_hw_rapid.h.

float YumiHWRapid::readJntPosition[N_YUMI_JOINTS] [private]

data buffers

Definition at line 354 of file yumi_hw_rapid.h.

YumiRapidInterface YumiHWRapid::robot_interface [private]

Definition at line 340 of file yumi_hw_rapid.h.

float YumiHWRapid::sampling_rate_ [private]

Definition at line 348 of file yumi_hw_rapid.h.

---

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

• yumi_hw_rapid.h