Public Member Functions | Protected Member Functions | Protected Attributes
ros_control_boilerplate::SimHWInterface Class Reference

Hardware interface for a robot. More...

#include <sim_hw_interface.h>

Inheritance diagram for ros_control_boilerplate::SimHWInterface:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void enforceLimits (ros::Duration &period)
virtual void init ()
 Initialize the robot hardware interface.
virtual void read (ros::Duration &elapsed_time)
 Read the state from the robot hardware.
 SimHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
 Constructor.
virtual void write (ros::Duration &elapsed_time)
 Write the command to the robot hardware.

Protected Member Functions

virtual void positionControlSimulation (ros::Duration &elapsed_time, const std::size_t joint_id)
 Basic model of system for position control.

Protected Attributes

std::vector< double > joint_position_prev_
std::string name_
double p_error_
double v_error_

Detailed Description

Hardware interface for a robot.

Definition at line 49 of file sim_hw_interface.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
nh- Node handle for topics.

Definition at line 44 of file sim_hw_interface.cpp.


Member Function Documentation

Enforce limits for all values before writing

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 112 of file sim_hw_interface.cpp.

Initialize the robot hardware interface.

Reimplemented from ros_control_boilerplate::GenericHWInterface.

Definition at line 50 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::positionControlSimulation ( ros::Duration elapsed_time,
const std::size_t  joint_id 
) [protected, virtual]

Basic model of system for position control.

Definition at line 118 of file sim_hw_interface.cpp.

Read the state from the robot hardware.

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 61 of file sim_hw_interface.cpp.

Write the command to the robot hardware.

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 66 of file sim_hw_interface.cpp.


Member Data Documentation

Definition at line 83 of file sim_hw_interface.h.

Reimplemented from ros_control_boilerplate::GenericHWInterface.

Definition at line 76 of file sim_hw_interface.h.

Definition at line 79 of file sim_hw_interface.h.

Definition at line 80 of file sim_hw_interface.h.


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


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Sun Apr 24 2016 04:39:29