Public Member Functions | Protected Attributes
SchunkCanopenHardwareInterface Class Reference

This class defines a ros-control hardware interface. More...

#include <SchunkCanopenHardwareInterface.h>

Inheritance diagram for SchunkCanopenHardwareInterface:
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List of all members.

Public Member Functions

virtual void doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
sensor_msgs::JointState getJointMessage ()
 Creates a joint_state message from the current joint angles and returns it.
virtual void init ()
 Initialize the hardware interface.
bool isFault ()
 Returns true, when at least one node in the hardware is in a fault state.
virtual bool prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void read ()
 Read the state from the robot hardware.
 SchunkCanopenHardwareInterface (ros::NodeHandle &nh, boost::shared_ptr< CanOpenController > &canopen)
virtual void write (ros::Time time, ros::Duration period)
 write the command to the robot hardware.

Protected Attributes

boost::shared_ptr
< CanOpenController
m_canopen_controller
bool m_is_fault
joint_limits_interface::PositionJointSoftLimitsInterface m_jnt_limits_interface
std::vector< double > m_joint_effort
joint_limits_interface::JointLimits m_joint_limits
std::vector< std::string > m_joint_names
std::vector< double > m_joint_position_commands
std::vector< double > m_joint_position_commands_last
std::vector< double > m_joint_positions
joint_limits_interface::SoftJointLimits m_joint_soft_limits
hardware_interface::JointStateInterface m_joint_state_interface
std::vector< double > m_joint_velocity
ros::NodeHandle m_node_handle
std::vector< uint8_tm_node_ids
std::vector< bool > m_nodes_in_fault
size_t m_num_joints
hardware_interface::PositionJointInterface m_position_joint_interface

Detailed Description

This class defines a ros-control hardware interface.

Definition at line 48 of file SchunkCanopenHardwareInterface.h.


Constructor & Destructor Documentation

Definition at line 38 of file SchunkCanopenHardwareInterface.cpp.


Member Function Documentation

Reimplemented from hardware_interface::RobotHW.

Definition at line 206 of file SchunkCanopenHardwareInterface.cpp.

Creates a joint_state message from the current joint angles and returns it.

Definition at line 211 of file SchunkCanopenHardwareInterface.cpp.

Initialize the hardware interface.

Definition at line 46 of file SchunkCanopenHardwareInterface.cpp.

Returns true, when at least one node in the hardware is in a fault state.

Definition at line 71 of file SchunkCanopenHardwareInterface.h.

Reimplemented from hardware_interface::RobotHW.

Definition at line 201 of file SchunkCanopenHardwareInterface.cpp.

Read the state from the robot hardware.

Definition at line 138 of file SchunkCanopenHardwareInterface.cpp.

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

write the command to the robot hardware.

Definition at line 164 of file SchunkCanopenHardwareInterface.cpp.


Member Data Documentation

Definition at line 80 of file SchunkCanopenHardwareInterface.h.

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Definition at line 84 of file SchunkCanopenHardwareInterface.h.


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


schunk_canopen_driver
Author(s): Felix Mauch , Georg Heppner
autogenerated on Sun May 22 2016 03:30:56