PhidgetIKROS Class Reference

#include <phidgetik_ros.h>

Inheritance diagram for PhidgetIKROS:

Classes
struct	OutputCompare

Public Member Functions
	PhidgetIKROS (ros::NodeHandle nh, int serial_num, std::string board_name, XmlRpc::XmlRpcValue *sensor_params, SensingMode mode)
	~PhidgetIKROS ()
Public Member Functions inherited from PhidgetIK
auto	getDataRate (int index) -> int
auto	getDataRateMax (int index) -> int
auto	getDataRateMin (int index) -> int
auto	getError () -> int
auto	getInputCount () -> int
auto	getInputState (int index) -> int
auto	getOutputCount () -> int
auto	getOutputState (int index) -> int
auto	getRatiometric () -> int
auto	getSensorChangeTrigger (int index) -> int
auto	getSensorCount () -> int
auto	getSensorRawValue (int index) -> int
auto	getSensorValue (int index) -> int
auto	init (int serial_number) -> int
	PhidgetIK (SensingMode mode)
auto	setDataRate (int index, int datarate) -> int
auto	setOutputState (int index, int state) -> int
auto	setRatiometric (int ratiometric) -> int
auto	setSensorChangeTrigger (int index, int trigger) -> int
	~PhidgetIK ()
Public Member Functions inherited from Phidget
auto	close (int serial_number) -> int
auto	getDeviceLabel () -> std::string
auto	getDeviceName () -> std::string
auto	getDeviceSerialNumber () -> int
auto	getDeviceType () -> std::string
auto	getDeviceVersion () -> int
auto	getLibraryVersion () -> std::string
auto	open (int serial_number) -> int
auto	waitForAttachment (int timeout) -> int
	~Phidget ()

Private Member Functions
auto	attachHandler () -> int
auto	detachHandler () -> int
auto	inputChangeHandler (int index, int inputState) -> int
auto	onDigitalOutCallback (const cob_phidgets::DigitalSensorConstPtr &msg) -> void
auto	outputChangeHandler (int index, int outputState) -> int
auto	readParams (XmlRpc::XmlRpcValue *sensor_params) -> void
auto	sensorChangeHandler (int index, int sensorValue) -> int
auto	setDataRateCallback (cob_phidgets::SetDataRate::Request &req, cob_phidgets::SetDataRate::Response &res) -> bool
auto	setDigitalOutCallback (cob_phidgets::SetDigitalSensor::Request &req, cob_phidgets::SetDigitalSensor::Response &res) -> bool
auto	setTriggerValueCallback (cob_phidgets::SetTriggerValue::Request &req, cob_phidgets::SetTriggerValue::Response &res) -> bool
auto	update () -> void

Private Attributes
std::string	_board_name
std::map< int, std::string >	_indexNameMapAnalog
std::map< std::string, int >	_indexNameMapAnalogRev
std::map< int, std::string >	_indexNameMapDigitalIn
std::map< std::string, int >	_indexNameMapDigitalInRev
std::map< int, std::string >	_indexNameMapDigitalOut
std::map< std::string, int >	_indexNameMapDigitalOutRev
std::map< int, std::string >::iterator	_indexNameMapItr
std::map< std::string, int >::iterator	_indexNameMapRevItr
std::mutex	_mutex
ros::NodeHandle	_nh
OutputCompare	_outputChanged
ros::Publisher	_pubAnalog
ros::Publisher	_pubDigital
int	_serial_num
ros::ServiceServer	_srvDataRate
ros::ServiceServer	_srvDigitalOut
ros::ServiceServer	_srvTriggerValue
ros::Subscriber	_subDigital

Additional Inherited Members
Public Types inherited from Phidget
enum	SensingMode { SensingMode::EVENT =0, SensingMode::POLLING =1 }
Static Public Member Functions inherited from Phidget
static auto	getErrorDescription (int errorCode) -> std::string
Protected Member Functions inherited from Phidget
	Phidget (CPhidgetHandle *handle, SensingMode mode)
Protected Attributes inherited from PhidgetIK
CPhidgetInterfaceKitHandle	_iKitHandle
Protected Attributes inherited from Phidget
int	_last_error
CPhidgetHandle *	_phiHandle
SensingMode	_sensMode
int	_serialNumber

Detailed Description

Definition at line 33 of file phidgetik_ros.h.

Constructor & Destructor Documentation

PhidgetIKROS::PhidgetIKROS	(	ros::NodeHandle	nh,
		int	serial_num,
		std::string	board_name,
		XmlRpc::XmlRpcValue *	sensor_params,
		SensingMode	mode
	)

Definition at line 20 of file phidgetik_ros.cpp.

PhidgetIKROS::~PhidgetIKROS

(

)

Definition at line 48 of file phidgetik_ros.cpp.

Member Function Documentation

auto PhidgetIKROS::attachHandler ( ) -> int

privatevirtual

Reimplemented from PhidgetIK.

Definition at line 380 of file phidgetik_ros.cpp.

auto PhidgetIKROS::detachHandler ( ) -> int

privatevirtual

Reimplemented from PhidgetIK.

Definition at line 416 of file phidgetik_ros.cpp.

auto PhidgetIKROS::inputChangeHandler ( int  index, int  inputState  ) -> int

privatevirtual

Reimplemented from PhidgetIK.

Definition at line 232 of file phidgetik_ros.cpp.

auto PhidgetIKROS::onDigitalOutCallback ( const cob_phidgets::DigitalSensorConstPtr &  msg ) -> void

private

Definition at line 344 of file phidgetik_ros.cpp.

auto PhidgetIKROS::outputChangeHandler ( int  index, int  outputState  ) -> int

privatevirtual

Reimplemented from PhidgetIK.

Definition at line 254 of file phidgetik_ros.cpp.

auto PhidgetIKROS::readParams ( XmlRpc::XmlRpcValue *  sensor_params ) -> void

private

Definition at line 52 of file phidgetik_ros.cpp.

auto PhidgetIKROS::sensorChangeHandler ( int  index, int  sensorValue  ) -> int

privatevirtual

Reimplemented from PhidgetIK.

Definition at line 263 of file phidgetik_ros.cpp.

auto PhidgetIKROS::setDataRateCallback ( cob_phidgets::SetDataRate::Request &  req, cob_phidgets::SetDataRate::Response &  res  ) -> bool

private

Definition at line 367 of file phidgetik_ros.cpp.

auto PhidgetIKROS::setDigitalOutCallback ( cob_phidgets::SetDigitalSensor::Request &  req, cob_phidgets::SetDigitalSensor::Response &  res  ) -> bool

private

Definition at line 286 of file phidgetik_ros.cpp.

auto PhidgetIKROS::setTriggerValueCallback ( cob_phidgets::SetTriggerValue::Request &  req, cob_phidgets::SetTriggerValue::Response &  res  ) -> bool

private

Definition at line 373 of file phidgetik_ros.cpp.

auto PhidgetIKROS::update ( ) -> void

privatevirtual

Reimplemented from PhidgetIK.

Definition at line 168 of file phidgetik_ros.cpp.

Member Data Documentation

std::string PhidgetIKROS::_board_name

private

Definition at line 49 of file phidgetik_ros.h.

std::map<int, std::string> PhidgetIKROS::_indexNameMapAnalog

private

Definition at line 61 of file phidgetik_ros.h.

std::map<std::string, int> PhidgetIKROS::_indexNameMapAnalogRev

private

Definition at line 62 of file phidgetik_ros.h.

std::map<int, std::string> PhidgetIKROS::_indexNameMapDigitalIn

private

Definition at line 63 of file phidgetik_ros.h.

std::map<std::string, int> PhidgetIKROS::_indexNameMapDigitalInRev

private

Definition at line 64 of file phidgetik_ros.h.

std::map<int, std::string> PhidgetIKROS::_indexNameMapDigitalOut

private

Definition at line 65 of file phidgetik_ros.h.

std::map<std::string, int> PhidgetIKROS::_indexNameMapDigitalOutRev

private

Definition at line 66 of file phidgetik_ros.h.

std::map<int, std::string>::iterator PhidgetIKROS::_indexNameMapItr

private

Definition at line 67 of file phidgetik_ros.h.

std::map<std::string, int>::iterator PhidgetIKROS::_indexNameMapRevItr

private

Definition at line 68 of file phidgetik_ros.h.

std::mutex PhidgetIKROS::_mutex

private

Definition at line 59 of file phidgetik_ros.h.

ros::NodeHandle PhidgetIKROS::_nh

private

Definition at line 40 of file phidgetik_ros.h.

OutputCompare PhidgetIKROS::_outputChanged

private

Definition at line 58 of file phidgetik_ros.h.

ros::Publisher PhidgetIKROS::_pubAnalog

private

Definition at line 41 of file phidgetik_ros.h.

ros::Publisher PhidgetIKROS::_pubDigital

private

Definition at line 42 of file phidgetik_ros.h.

int PhidgetIKROS::_serial_num

private

Definition at line 48 of file phidgetik_ros.h.

ros::ServiceServer PhidgetIKROS::_srvDataRate

private

Definition at line 45 of file phidgetik_ros.h.

ros::ServiceServer PhidgetIKROS::_srvDigitalOut

private

Definition at line 44 of file phidgetik_ros.h.

ros::ServiceServer PhidgetIKROS::_srvTriggerValue

private

Definition at line 46 of file phidgetik_ros.h.

ros::Subscriber PhidgetIKROS::_subDigital

private

Definition at line 43 of file phidgetik_ros.h.

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

• phidgetik_ros.h
• phidgetik_ros.cpp