Class SOARM100Interface

Defined in File so_arm_100_interface.hpp

Nested Relationships

Nested Types

Struct SOARM100Interface::JointCalibration

Inheritance Relationships

Base Type

public hardware_interface::SystemInterface

Class Documentation

class SOARM100Interface : public hardware_interface::SystemInterface

Public Functions

SOARM100Interface()

virtual ~SOARM100Interface()

CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams &params) override

CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override

std::vector<hardware_interface::StateInterface> export_state_interfaces() override

std::vector<hardware_interface::CommandInterface> export_command_interfaces() override

hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override

hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override

hardware_interface::return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override

hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override