#include <handle_layer.h>

Inheritance diagram for canopen::HandleLayer:

Public Member Functions
CanSwitchResult	canSwitch (const canopen::MotorBase::OperationMode &m)

void	enableLimits (bool enable)

void	enforceLimits (const ros::Duration &period, bool reset)

bool	forwardForMode (const canopen::MotorBase::OperationMode &m)

	HandleLayer (const std::string &name, const canopen::MotorBaseSharedPtr &motor, const canopen::ObjectStorageSharedPtr storage, XmlRpc::XmlRpcValue &options)

bool	prepareFilters (canopen::LayerStatus &status)

void	registerHandle (hardware_interface::JointStateInterface &iface)

hardware_interface::JointHandle *	registerHandle (hardware_interface::PositionJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)

hardware_interface::JointHandle *	registerHandle (hardware_interface::VelocityJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)

hardware_interface::JointHandle *	registerHandle (hardware_interface::EffortJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)

bool	switchMode (const canopen::MotorBase::OperationMode &m)

Public Member Functions inherited from canopen::HandleLayerBase
	HandleLayerBase (const std::string &name)

Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)

LayerState	getLayerState ()

void	halt (LayerStatus &status)

void	init (LayerStatus &status)

	Layer (const std::string &n)

void	read (LayerStatus &status)

void	recover (LayerStatus &status)

void	shutdown (LayerStatus &status)

void	write (LayerStatus &status)

virtual	~Layer ()

Static Public Member Functions
static double *	assignVariable (const std::string &name, double *ptr, const std::string &req)

Private Types
typedef boost::unordered_map< MotorBase::OperationMode, hardware_interface::JointHandle * >	CommandMap

Private Member Functions
template<typename T >
hardware_interface::JointHandle *	addHandle (T &iface, hardware_interface::JointHandle *jh, const std::vector< MotorBase::OperationMode > &modes)

virtual void	handleDiag (canopen::LayerReport &report)

virtual void	handleHalt (canopen::LayerStatus &status)

virtual void	handleInit (canopen::LayerStatus &status)

virtual void	handleRead (canopen::LayerStatus &status, const LayerState &current_state)

virtual void	handleRecover (canopen::LayerStatus &status)

virtual void	handleShutdown (canopen::LayerStatus &status)

virtual void	handleWrite (canopen::LayerStatus &status, const LayerState &current_state)

bool	select (const canopen::MotorBase::OperationMode &m)

Private Attributes
double	cmd_eff_

double	cmd_pos_

double	cmd_vel_

CommandMap	commands_

boost::scoped_ptr< UnitConverter >	conv_eff_

boost::scoped_ptr< UnitConverter >	conv_pos_

boost::scoped_ptr< UnitConverter >	conv_target_eff_

boost::scoped_ptr< UnitConverter >	conv_target_pos_

boost::scoped_ptr< UnitConverter >	conv_target_vel_

boost::scoped_ptr< UnitConverter >	conv_vel_

double	eff_

bool	enable_limits_

filters::FilterChain< double >	filter_eff_

filters::FilterChain< double >	filter_pos_

filters::FilterChain< double >	filter_vel_

boost::atomic< bool >	forward_command_

hardware_interface::JointHandle	jeh_

boost::atomic< hardware_interface::JointHandle * >	jh_

hardware_interface::JointHandle	jph_

hardware_interface::JointStateHandle	jsh_

hardware_interface::JointHandle	jvh_

std::vector< LimitsHandleBaseSharedPtr >	limits_

canopen::MotorBaseSharedPtr	motor_

XmlRpc::XmlRpcValue	options_

double	pos_

ObjectVariables	variables_

double	vel_

Additional Inherited Members
Public Types inherited from canopen::HandleLayerBase
enum	CanSwitchResult { NotSupported, NotReadyToSwitch, ReadyToSwitch, NoNeedToSwitch }

Public Types inherited from canopen::Layer
enum	LayerState

Public Attributes inherited from canopen::Layer
	Error

	Halt

	Init

const std::string	name

	Off

	Ready

	Recover

	Shutdown

Detailed Description

Definition at line 84 of file handle_layer.h.

Member Typedef Documentation

typedef boost::unordered_map< MotorBase::OperationMode,hardware_interface::JointHandle* > canopen::HandleLayer::CommandMap

private

Definition at line 102 of file handle_layer.h.

Constructor & Destructor Documentation

HandleLayer::HandleLayer	(	const std::string &	name,
		const canopen::MotorBaseSharedPtr &	motor,
		const canopen::ObjectStorageSharedPtr	storage,
		XmlRpc::XmlRpcValue &	options
	)

Definition at line 26 of file handle_layer.cpp.

Member Function Documentation

template<typename T >

hardware_interface::JointHandle* canopen::HandleLayer::addHandle	(	T &	iface,
		hardware_interface::JointHandle *	jh,
		const std::vector< MotorBase::OperationMode > &	modes
	)

inlineprivate

Definition at line 105 of file handle_layer.h.

static double* canopen::HandleLayer::assignVariable	(	const std::string &	name,
		double *	ptr,
		const std::string &	req
	)

inlinestatic

Definition at line 129 of file handle_layer.h.

HandleLayer::CanSwitchResult HandleLayer::canSwitch ( const canopen::MotorBase::OperationMode & m )

virtual

Implements canopen::HandleLayerBase.

Definition at line 59 of file handle_layer.cpp.

void HandleLayer::enableLimits ( bool enable )

virtual

Implements canopen::HandleLayerBase.

Definition at line 213 of file handle_layer.cpp.

void HandleLayer::enforceLimits	(	const ros::Duration &	period,
		bool	reset
	)

virtual

Implements canopen::HandleLayerBase.

Definition at line 206 of file handle_layer.cpp.

bool HandleLayer::forwardForMode ( const canopen::MotorBase::OperationMode & m )

virtual

Implements canopen::HandleLayerBase.

Definition at line 85 of file handle_layer.cpp.

virtual void canopen::HandleLayer::handleDiag ( canopen::LayerReport & report )

inlineprivatevirtual

Implements canopen::Layer.

Definition at line 157 of file handle_layer.h.

virtual void canopen::HandleLayer::handleHalt ( canopen::LayerStatus & status )

inlineprivatevirtual

Implements canopen::Layer.

Definition at line 159 of file handle_layer.h.

void HandleLayer::handleInit ( canopen::LayerStatus & status )

privatevirtual

Implements canopen::Layer.

Definition at line 190 of file handle_layer.cpp.

void HandleLayer::handleRead	(	canopen::LayerStatus &	status,
		const LayerState &	current_state
	)

privatevirtual

Implements canopen::Layer.

Definition at line 138 of file handle_layer.cpp.

virtual void canopen::HandleLayer::handleRecover ( canopen::LayerStatus & status )

inlineprivatevirtual

Implements canopen::Layer.

Definition at line 160 of file handle_layer.h.

virtual void canopen::HandleLayer::handleShutdown ( canopen::LayerStatus & status )

inlineprivatevirtual

Implements canopen::Layer.

Definition at line 158 of file handle_layer.h.

void HandleLayer::handleWrite	(	canopen::LayerStatus &	status,
		const LayerState &	current_state
	)

privatevirtual

Implements canopen::Layer.

Definition at line 146 of file handle_layer.cpp.

bool HandleLayer::prepareFilters ( canopen::LayerStatus & status )

Definition at line 184 of file handle_layer.cpp.

void canopen::HandleLayer::registerHandle ( hardware_interface::JointStateInterface & iface )

inlinevirtual

Implements canopen::HandleLayerBase.

Definition at line 135 of file handle_layer.h.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::PositionJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)

virtual

Implements canopen::HandleLayerBase.

Definition at line 99 of file handle_layer.cpp.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::VelocityJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)

virtual

Implements canopen::HandleLayerBase.

Definition at line 112 of file handle_layer.cpp.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::EffortJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)

virtual

Implements canopen::HandleLayerBase.

Definition at line 125 of file handle_layer.cpp.

bool HandleLayer::select ( const canopen::MotorBase::OperationMode & m )

private

Definition at line 19 of file handle_layer.cpp.

bool HandleLayer::switchMode ( const canopen::MotorBase::OperationMode & m )

virtual

Implements canopen::HandleLayerBase.

Definition at line 71 of file handle_layer.cpp.

Member Data Documentation

double canopen::HandleLayer::cmd_eff_

private

Definition at line 88 of file handle_layer.h.

double canopen::HandleLayer::cmd_pos_

private

Definition at line 88 of file handle_layer.h.

double canopen::HandleLayer::cmd_vel_

private

Definition at line 88 of file handle_layer.h.

CommandMap canopen::HandleLayer::commands_

private

Definition at line 103 of file handle_layer.h.

boost::scoped_ptr<UnitConverter> canopen::HandleLayer::conv_eff_

private

Definition at line 92 of file handle_layer.h.

boost::scoped_ptr<UnitConverter> canopen::HandleLayer::conv_pos_

private

Definition at line 92 of file handle_layer.h.

boost::scoped_ptr<UnitConverter> canopen::HandleLayer::conv_target_eff_

private

Definition at line 91 of file handle_layer.h.

boost::scoped_ptr<UnitConverter> canopen::HandleLayer::conv_target_pos_

private

Definition at line 91 of file handle_layer.h.

boost::scoped_ptr<UnitConverter> canopen::HandleLayer::conv_target_vel_

private

Definition at line 91 of file handle_layer.h.

boost::scoped_ptr<UnitConverter> canopen::HandleLayer::conv_vel_

private

Definition at line 92 of file handle_layer.h.

double canopen::HandleLayer::eff_

private

Definition at line 86 of file handle_layer.h.

bool canopen::HandleLayer::enable_limits_

private

Definition at line 126 of file handle_layer.h.

filters::FilterChain<double> canopen::HandleLayer::filter_eff_

private

Definition at line 94 of file handle_layer.h.

filters::FilterChain<double> canopen::HandleLayer::filter_pos_

private

Definition at line 94 of file handle_layer.h.

filters::FilterChain<double> canopen::HandleLayer::filter_vel_

private

Definition at line 94 of file handle_layer.h.

boost::atomic<bool> canopen::HandleLayer::forward_command_

private

Definition at line 100 of file handle_layer.h.

hardware_interface::JointHandle canopen::HandleLayer::jeh_

private

Definition at line 98 of file handle_layer.h.

boost::atomic<hardware_interface::JointHandle*> canopen::HandleLayer::jh_

private

Definition at line 99 of file handle_layer.h.

hardware_interface::JointHandle canopen::HandleLayer::jph_

private

Definition at line 98 of file handle_layer.h.

hardware_interface::JointStateHandle canopen::HandleLayer::jsh_

private

Definition at line 97 of file handle_layer.h.

hardware_interface::JointHandle canopen::HandleLayer::jvh_

private

Definition at line 98 of file handle_layer.h.

std::vector<LimitsHandleBaseSharedPtr> canopen::HandleLayer::limits_

private

Definition at line 125 of file handle_layer.h.

canopen::MotorBaseSharedPtr canopen::HandleLayer::motor_

private

Definition at line 85 of file handle_layer.h.

XmlRpc::XmlRpcValue canopen::HandleLayer::options_

private

Definition at line 95 of file handle_layer.h.

double canopen::HandleLayer::pos_

private

Definition at line 86 of file handle_layer.h.

ObjectVariables canopen::HandleLayer::variables_

private

Definition at line 90 of file handle_layer.h.

double canopen::HandleLayer::vel_

private

Definition at line 86 of file handle_layer.h.

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

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation