#include <transmission_interface_loader.h>
Inheritance diagram for transmission_interface::RequisiteProvider:
Classes | |
| struct | TransmissionHandleData |
Public Types | |
| typedef TransmissionLoaderData::TransmissionPtr | TransmissionPtr |
Public Member Functions | |
| bool | loadTransmissionMaps (const TransmissionInfo &transmission_info, TransmissionLoaderData &loader_data, TransmissionPtr transmission) |
| virtual bool | updateJointInterfaces (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map)=0 |
| Update a robot's joint interfaces with joint information contained in a transmission. | |
| virtual | ~RequisiteProvider () |
Protected Member Functions | |
| virtual bool | getActuatorCommandData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_cmd_data)=0 |
| template<class HardwareInterface , class Handle > | |
| bool | getActuatorHandles (const std::vector< ActuatorInfo > &actuators_info, hardware_interface::RobotHW *robot_hw, std::vector< Handle > &handles) |
| virtual bool | getActuatorStateData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data)=0 |
| virtual bool | getJointCommandData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_cmd_data)=0 |
| virtual bool | getJointStateData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data)=0 |
| virtual bool | registerTransmission (TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data)=0 |
Static Protected Member Functions | |
| template<class Interface > | |
| static bool | hasResource (const std::string &name, const Interface &iface) |
Detailed Description
Definition at line 165 of file transmission_interface_loader.h.
Member Typedef Documentation
| typedef TransmissionLoaderData::TransmissionPtr transmission_interface::RequisiteProvider::TransmissionPtr |
Definition at line 168 of file transmission_interface_loader.h.
Constructor & Destructor Documentation
| virtual transmission_interface::RequisiteProvider::~RequisiteProvider | ( | ) | [inline, virtual] |
Definition at line 170 of file transmission_interface_loader.h.
Member Function Documentation
| virtual bool transmission_interface::RequisiteProvider::getActuatorCommandData | ( | const TransmissionInfo & | transmission_info, |
| hardware_interface::RobotHW * | robot_hw, | ||
| ActuatorData & | act_cmd_data | ||
| ) | [protected, pure virtual] |
template<class HardwareInterface , class Handle >
| bool transmission_interface::RequisiteProvider::getActuatorHandles | ( | const std::vector< ActuatorInfo > & | actuators_info, |
| hardware_interface::RobotHW * | robot_hw, | ||
| std::vector< Handle > & | handles | ||
| ) | [inline, protected] |
Definition at line 246 of file transmission_interface_loader.h.
| virtual bool transmission_interface::RequisiteProvider::getActuatorStateData | ( | const TransmissionInfo & | transmission_info, |
| hardware_interface::RobotHW * | robot_hw, | ||
| ActuatorData & | act_state_data | ||
| ) | [protected, pure virtual] |
Implemented in transmission_interface::JointStateInterfaceProvider.
| virtual bool transmission_interface::RequisiteProvider::getJointCommandData | ( | const TransmissionInfo & | transmission_info, |
| const RawJointDataMap & | raw_joint_data_map, | ||
| JointData & | jnt_cmd_data | ||
| ) | [protected, pure virtual] |
| virtual bool transmission_interface::RequisiteProvider::getJointStateData | ( | const TransmissionInfo & | transmission_info, |
| const RawJointDataMap & | raw_joint_data_map, | ||
| JointData & | jnt_state_data | ||
| ) | [protected, pure virtual] |
Implemented in transmission_interface::JointStateInterfaceProvider.
template<class Interface >
| static bool transmission_interface::RequisiteProvider::hasResource | ( | const std::string & | name, |
| const Interface & | iface | ||
| ) | [inline, static, protected] |
Definition at line 225 of file transmission_interface_loader.h.
| bool transmission_interface::RequisiteProvider::loadTransmissionMaps | ( | const TransmissionInfo & | transmission_info, |
| TransmissionLoaderData & | loader_data, | ||
| TransmissionPtr | transmission | ||
| ) |
Definition at line 39 of file transmission_interface_loader.cpp.
| virtual bool transmission_interface::RequisiteProvider::registerTransmission | ( | TransmissionLoaderData & | loader_data, |
| TransmissionHandleData & | handle_data | ||
| ) | [protected, pure virtual] |
| virtual bool transmission_interface::RequisiteProvider::updateJointInterfaces | ( | const TransmissionInfo & | transmission_info, |
| hardware_interface::RobotHW * | robot_hw, | ||
| JointInterfaces & | joint_interfaces, | ||
| RawJointDataMap & | raw_joint_data_map | ||
| ) | [pure virtual] |
Update a robot's joint interfaces with joint information contained in a transmission.
- Parameters:
-
[in] transmission_info Structure containing information of which joints to add. Only new, non-previously registered joints will be added. [out] joint_ifaces Joint interfaces where new joints will be added. It may already contain data, which will not be overwritten; only new joints will be added. raw_joint_data_map[out] Structure where the raw data of new joints will reside. It may already contain data, which will not be overwritten; only new data will be added.
- Returns:
- true if successful.
Implemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, transmission_interface::VelocityJointInterfaceProvider, and transmission_interface::JointStateInterfaceProvider.
The documentation for this class was generated from the following files: