#include <armadillo2_sim_interface.h>

Inheritance diagram for gazebo_ros_control::Armadillo2RobotHWSim:

Public Member Functions
virtual void	eStopActive (const bool active)

virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)

virtual void	readSim (ros::Time time, ros::Duration period)

virtual void	writeSim (ros::Time time, ros::Duration period)

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual	~RobotHWSim ()

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

Protected Types
enum	ControlMethod { EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID, POS_VEL }

Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

Protected Member Functions
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)

void	registerJointLimits (const std::string &joint_name, const hardware_interface::PosVelJointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)

Protected Attributes
bool	e_stop_active_

hardware_interface::EffortJointInterface	ej_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_

joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_

std::vector< ControlMethod >	joint_control_methods_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< double >	joint_lower_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< int >	joint_types_

std::vector< double >	joint_upper_limits_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

hardware_interface::JointStateInterface	js_interface_

bool	last_e_stop_active_

std::vector< double >	last_joint_position_command_

unsigned int	n_dof_

std::vector< control_toolbox::Pid >	pid_controllers_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

hardware_interface::PosVelJointInterface	pvj_interface_

std::vector< gazebo::physics::JointPtr >	sim_joints_

hardware_interface::VelocityJointInterface	vj_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_

joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Definition at line 34 of file armadillo2_sim_interface.h.

Member Enumeration Documentation

enum gazebo_ros_control::Armadillo2RobotHWSim::ControlMethod

protected

Enumerator
EFFORT
POSITION
POSITION_PID
VELOCITY
VELOCITY_PID
POS_VEL

Definition at line 53 of file armadillo2_sim_interface.h.

Member Function Documentation

void gazebo_ros_control::Armadillo2RobotHWSim::eStopActive ( const bool active )

virtual

Reimplemented from gazebo_ros_control::RobotHWSim.

Definition at line 349 of file armadillo2_sim_interface.cpp.

bool gazebo_ros_control::Armadillo2RobotHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)

virtual

Implements gazebo_ros_control::RobotHWSim.

Definition at line 17 of file armadillo2_sim_interface.cpp.

void gazebo_ros_control::Armadillo2RobotHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Implements gazebo_ros_control::RobotHWSim.

Definition at line 227 of file armadillo2_sim_interface.cpp.

void gazebo_ros_control::Armadillo2RobotHWSim::registerJointLimits	(	const std::string &	joint_name,
		const hardware_interface::JointHandle &	joint_handle,
		const ControlMethod	ctrl_method,
		const ros::NodeHandle &	joint_limit_nh,
		const urdf::Model *const	urdf_model,
		int *const	joint_type,
		double *const	lower_limit,
		double *const	upper_limit,
		double *const	effort_limit
	)

protected

Definition at line 357 of file armadillo2_sim_interface.cpp.

void gazebo_ros_control::Armadillo2RobotHWSim::registerJointLimits	(	const std::string &	joint_name,
		const hardware_interface::PosVelJointHandle &	joint_handle,
		const ControlMethod	ctrl_method,
		const ros::NodeHandle &	joint_limit_nh,
		const urdf::Model *const	urdf_model,
		int *const	joint_type,
		double *const	lower_limit,
		double *const	upper_limit,
		double *const	effort_limit
	)

protected

Definition at line 477 of file armadillo2_sim_interface.cpp.

void gazebo_ros_control::Armadillo2RobotHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Implements gazebo_ros_control::RobotHWSim.

Definition at line 246 of file armadillo2_sim_interface.cpp.

Member Data Documentation

bool gazebo_ros_control::Armadillo2RobotHWSim::e_stop_active_

protected

Definition at line 108 of file armadillo2_sim_interface.h.

hardware_interface::EffortJointInterface gazebo_ros_control::Armadillo2RobotHWSim::ej_interface_

protected

Definition at line 77 of file armadillo2_sim_interface.h.

joint_limits_interface::EffortJointSoftLimitsInterface gazebo_ros_control::Armadillo2RobotHWSim::ej_limits_interface_

protected

Definition at line 83 of file armadillo2_sim_interface.h.

joint_limits_interface::EffortJointSaturationInterface gazebo_ros_control::Armadillo2RobotHWSim::ej_sat_interface_

protected

Definition at line 82 of file armadillo2_sim_interface.h.

std::vector<ControlMethod> gazebo_ros_control::Armadillo2RobotHWSim::joint_control_methods_

protected

Definition at line 95 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_effort_

protected

Definition at line 99 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_effort_command_

protected

Definition at line 100 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_effort_limits_

protected

Definition at line 94 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_lower_limits_

protected

Definition at line 92 of file armadillo2_sim_interface.h.

std::vector<std::string> gazebo_ros_control::Armadillo2RobotHWSim::joint_names_

protected

Definition at line 90 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_position_

protected

Definition at line 97 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_position_command_

protected

Definition at line 101 of file armadillo2_sim_interface.h.

std::vector<int> gazebo_ros_control::Armadillo2RobotHWSim::joint_types_

protected

Definition at line 91 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_upper_limits_

protected

Definition at line 93 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_velocity_

protected

Definition at line 98 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::joint_velocity_command_

protected

Definition at line 103 of file armadillo2_sim_interface.h.

hardware_interface::JointStateInterface gazebo_ros_control::Armadillo2RobotHWSim::js_interface_

protected

Definition at line 76 of file armadillo2_sim_interface.h.

bool gazebo_ros_control::Armadillo2RobotHWSim::last_e_stop_active_

protected

Definition at line 108 of file armadillo2_sim_interface.h.

std::vector<double> gazebo_ros_control::Armadillo2RobotHWSim::last_joint_position_command_

protected

Definition at line 102 of file armadillo2_sim_interface.h.

unsigned int gazebo_ros_control::Armadillo2RobotHWSim::n_dof_

protected

Definition at line 74 of file armadillo2_sim_interface.h.

std::vector<control_toolbox::Pid> gazebo_ros_control::Armadillo2RobotHWSim::pid_controllers_

protected

Definition at line 96 of file armadillo2_sim_interface.h.

hardware_interface::PositionJointInterface gazebo_ros_control::Armadillo2RobotHWSim::pj_interface_

protected

Definition at line 78 of file armadillo2_sim_interface.h.

joint_limits_interface::PositionJointSoftLimitsInterface gazebo_ros_control::Armadillo2RobotHWSim::pj_limits_interface_

protected

Definition at line 85 of file armadillo2_sim_interface.h.

joint_limits_interface::PositionJointSaturationInterface gazebo_ros_control::Armadillo2RobotHWSim::pj_sat_interface_

protected

Definition at line 84 of file armadillo2_sim_interface.h.

hardware_interface::PosVelJointInterface gazebo_ros_control::Armadillo2RobotHWSim::pvj_interface_

protected

Definition at line 80 of file armadillo2_sim_interface.h.

std::vector<gazebo::physics::JointPtr> gazebo_ros_control::Armadillo2RobotHWSim::sim_joints_

protected

Definition at line 105 of file armadillo2_sim_interface.h.

hardware_interface::VelocityJointInterface gazebo_ros_control::Armadillo2RobotHWSim::vj_interface_

protected

Definition at line 79 of file armadillo2_sim_interface.h.

joint_limits_interface::VelocityJointSoftLimitsInterface gazebo_ros_control::Armadillo2RobotHWSim::vj_limits_interface_

protected

Definition at line 87 of file armadillo2_sim_interface.h.

joint_limits_interface::VelocityJointSaturationInterface gazebo_ros_control::Armadillo2RobotHWSim::vj_sat_interface_

protected

Definition at line 86 of file armadillo2_sim_interface.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation