#include <robot_layer.h>

Inheritance diagram for canopen::RobotLayer:

Classes
struct	SwitchData
Public Member Functions
void	add (const std::string &name, boost::shared_ptr< HandleLayerBase > handle)
virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
void	enforce (const ros::Duration &period, bool reset)
urdf::JointConstSharedPtr	getJoint (const std::string &n) const
virtual void	handleInit (canopen::LayerStatus &status)
virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
	RobotLayer (ros::NodeHandle nh)
Private Types
typedef boost::unordered_map < std::string, boost::shared_ptr < HandleLayerBase > >	HandleMap
typedef std::vector< SwitchData >	SwitchContainer
typedef boost::unordered_map < std::string, SwitchContainer >	SwitchMap
Private Member Functions
void	stopControllers (const std::vector< std::string > controllers)
Private Attributes
hardware_interface::EffortJointInterface	eff_interface_
joint_limits_interface::EffortJointSaturationInterface	eff_saturation_interface_
joint_limits_interface::EffortJointSoftLimitsInterface	eff_soft_limits_interface_
boost::atomic< bool >	first_init_
HandleMap	handles_
ros::NodeHandle	nh_
hardware_interface::PositionJointInterface	pos_interface_
joint_limits_interface::PositionJointSaturationInterface	pos_saturation_interface_
joint_limits_interface::PositionJointSoftLimitsInterface	pos_soft_limits_interface_
hardware_interface::JointStateInterface	state_interface_
SwitchMap	switch_map_
urdf::Model	urdf_
hardware_interface::VelocityJointInterface	vel_interface_
joint_limits_interface::VelocityJointSaturationInterface	vel_saturation_interface_
joint_limits_interface::VelocityJointSoftLimitsInterface	vel_soft_limits_interface_

Detailed Description

Definition at line 18 of file robot_layer.h.

Member Typedef Documentation

typedef boost::unordered_map< std::string, boost::shared_ptr<HandleLayerBase> > canopen::RobotLayer::HandleMap [private]

Definition at line 34 of file robot_layer.h.

typedef std::vector<SwitchData> canopen::RobotLayer::SwitchContainer [private]

Definition at line 41 of file robot_layer.h.

typedef boost::unordered_map<std::string, SwitchContainer> canopen::RobotLayer::SwitchMap [private]

Definition at line 42 of file robot_layer.h.

Constructor & Destructor Documentation

RobotLayer::RobotLayer ( ros::NodeHandle nh )

Definition at line 31 of file robot_layer.cpp.

Member Function Documentation

void RobotLayer::add	(	const std::string &	name,
		boost::shared_ptr< HandleLayerBase >	handle
	)

Definition at line 26 of file robot_layer.cpp.

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

Reimplemented from hardware_interface::RobotHW.

Definition at line 222 of file robot_layer.cpp.

void RobotLayer::enforce	(	const ros::Duration &	period,
		bool	reset
	)

Definition at line 77 of file robot_layer.cpp.

urdf::JointConstSharedPtr canopen::RobotLayer::getJoint ( const std::string & n ) const [inline]

Definition at line 51 of file robot_layer.h.

void RobotLayer::handleInit ( canopen::LayerStatus & status ) [virtual]

Reimplemented from canopen::LayerGroup< T >.

Definition at line 41 of file robot_layer.cpp.

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