#include <dxlport_control.h>

Inheritance diagram for DXLPORT_CONTROL:

Public Member Functions
	DXLPORT_CONTROL (ros::NodeHandle handle, CONTROL_SETTING &setting)

void	effort_limitter (void)

std::string::size_type	get_error (std::string &errorlog)

bool	get_init_stat (void)

uint8_t	get_joint_num (void)

ros::Duration	getDuration (ros::Time t) const

ros::Time	getTime () const

void	init_joint_params (ST_JOINT_PARAM &param, int table_id, int value)

bool	is_change_positions (void)

bool	read (ros::Time, ros::Duration)

void	readCurrent (ros::Time, ros::Duration)

void	readPos (ros::Time, ros::Duration)

void	readTemp (ros::Time, ros::Duration)

void	readVel (ros::Time, ros::Duration)

std::string	self_check (void)

void	set_gain (uint8_t dxl_id, uint16_t gain)

void	set_gain_all (uint16_t gain)

void	set_goal_current (uint8_t dxl_id, uint16_t current)

void	set_goal_current_all (uint16_t current)

void	set_param_current_limit (uint8_t dxl_id, int val)

void	set_param_delay_time (uint8_t dxl_id, int val)

void	set_param_drive_mode (uint8_t dxl_id, int val)

void	set_param_home_offset (uint8_t dxl_id, int val)

void	set_param_moving_threshold (uint8_t dxl_id, int val)

void	set_param_ope_mode (uint8_t dxl_id, int val)

void	set_param_pos_gain (uint8_t dxl_id, int p, int i, int d)

void	set_param_pos_gain_all (int p, int i, int d)

void	set_param_temp_limit (uint8_t dxl_id, int val)

void	set_param_vel_gain (uint8_t dxl_id, int p, int i)

void	set_param_vol_limit (uint8_t dxl_id, int max, int min)

bool	set_torque (uint8_t dxl_id, bool torque)

void	set_torque_all (bool torque)

void	set_watchdog (uint8_t dxl_id, uint8_t value)

void	set_watchdog_all (uint8_t value)

void	startup_motion (void)

void	write (ros::Time, ros::Duration)

	~DXLPORT_CONTROL ()

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)

Public Attributes
std::vector< JOINT_CONTROL >	joints

uint32_t	tempCount

Private Member Functions
bool	check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint8_t equal, uint8_t &read_val)

bool	check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint16_t equal, uint16_t &read_val)

bool	check_servo_param (uint8_t dxl_id, uint32_t test_addr, uint32_t equal, uint32_t &read_val)

Private Attributes
std::queue< std::string >	error_queue

bool	init_stat

hardware_interface::EffortJointInterface	joint_eff_if

joint_limits_interface::PositionJointSoftLimitsInterface	joint_limits_if

uint8_t	joint_num

hardware_interface::PositionJointInterface	joint_pos_if

hardware_interface::JointStateInterface	joint_stat_if

dynamixel::PacketHandler *	packetHandler

bool	port_stat

dynamixel::PortHandler *	portHandler

dynamixel::GroupBulkRead *	readMovementGroup

dynamixel::GroupBulkRead *	readTempGroup

uint32_t	rx_err

ros::Time	tempTime

uint32_t	tx_err

dynamixel::GroupBulkWrite *	writeGoalGroup

Additional Inherited Members
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 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 30 of file dxlport_control.h.

Constructor & Destructor Documentation

DXLPORT_CONTROL::DXLPORT_CONTROL	(	ros::NodeHandle	handle,
		CONTROL_SETTING &	setting
	)

Definition at line 16 of file dxlport_control.cpp.

DXLPORT_CONTROL::~DXLPORT_CONTROL ( )

Definition at line 127 of file dxlport_control.cpp.

Member Function Documentation

bool DXLPORT_CONTROL::check_servo_param	(	uint8_t	dxl_id,
		uint32_t	test_addr,
		uint8_t	equal,
		uint8_t &	read_val
	)

private

Definition at line 481 of file dxlport_control.cpp.

bool DXLPORT_CONTROL::check_servo_param	(	uint8_t	dxl_id,
		uint32_t	test_addr,
		uint16_t	equal,
		uint16_t &	read_val
	)

private

Definition at line 501 of file dxlport_control.cpp.

bool DXLPORT_CONTROL::check_servo_param	(	uint8_t	dxl_id,
		uint32_t	test_addr,
		uint32_t	equal,
		uint32_t &	read_val
	)

private

Definition at line 521 of file dxlport_control.cpp.

void DXLPORT_CONTROL::effort_limitter ( void )

Definition at line 675 of file dxlport_control.cpp.

std::string::size_type DXLPORT_CONTROL::get_error ( std::string & errorlog )

Definition at line 1064 of file dxlport_control.cpp.

bool DXLPORT_CONTROL::get_init_stat ( void )

inline

Definition at line 52 of file dxlport_control.h.

uint8_t DXLPORT_CONTROL::get_joint_num ( void )

inline

Definition at line 53 of file dxlport_control.h.

ros::Duration DXLPORT_CONTROL::getDuration ( ros::Time t ) const

inline

Definition at line 36 of file dxlport_control.h.

ros::Time DXLPORT_CONTROL::getTime ( ) const

inline

Definition at line 35 of file dxlport_control.h.

void DXLPORT_CONTROL::init_joint_params	(	ST_JOINT_PARAM &	param,
		int	table_id,
		int	value
	)

Definition at line 542 of file dxlport_control.cpp.

bool DXLPORT_CONTROL::is_change_positions ( void )

Definition at line 291 of file dxlport_control.cpp.

bool DXLPORT_CONTROL::read	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 137 of file dxlport_control.cpp.

void DXLPORT_CONTROL::readCurrent	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 180 of file dxlport_control.cpp.

void DXLPORT_CONTROL::readPos	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 162 of file dxlport_control.cpp.

void DXLPORT_CONTROL::readTemp	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 198 of file dxlport_control.cpp.

void DXLPORT_CONTROL::readVel	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 221 of file dxlport_control.cpp.

std::string DXLPORT_CONTROL::self_check ( void )

Definition at line 603 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_gain	(	uint8_t	dxl_id,
		uint16_t	gain
	)

Definition at line 316 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_gain_all ( uint16_t gain )

Definition at line 303 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_goal_current	(	uint8_t	dxl_id,
		uint16_t	current
	)

Definition at line 343 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_goal_current_all ( uint16_t current )

Definition at line 330 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_current_limit	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 935 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_delay_time	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 733 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_drive_mode	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 760 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_home_offset	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 814 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_moving_threshold	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 841 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_ope_mode	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 787 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_pos_gain	(	uint8_t	dxl_id,
		int	p,
		int	i,
		int	d
	)

Definition at line 1010 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_pos_gain_all	(	int	p,
		int	i,
		int	d
	)

Definition at line 1003 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_temp_limit	(	uint8_t	dxl_id,
		int	val
	)

Definition at line 868 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_vel_gain	(	uint8_t	dxl_id,
		int	p,
		int	i
	)

Definition at line 962 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_param_vol_limit	(	uint8_t	dxl_id,
		int	max,
		int	min
	)

Definition at line 895 of file dxlport_control.cpp.

bool DXLPORT_CONTROL::set_torque	(	uint8_t	dxl_id,
		bool	torque
	)

Definition at line 357 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_torque_all ( bool torque )

Definition at line 379 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_watchdog	(	uint8_t	dxl_id,
		uint8_t	value
	)

Definition at line 388 of file dxlport_control.cpp.

void DXLPORT_CONTROL::set_watchdog_all ( uint8_t value )

Definition at line 405 of file dxlport_control.cpp.

void DXLPORT_CONTROL::startup_motion ( void )

Definition at line 413 of file dxlport_control.cpp.

void DXLPORT_CONTROL::write	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 236 of file dxlport_control.cpp.

Member Data Documentation

std::queue<std::string> DXLPORT_CONTROL::error_queue

private

Definition at line 94 of file dxlport_control.h.

bool DXLPORT_CONTROL::init_stat

private

Definition at line 89 of file dxlport_control.h.

hardware_interface::EffortJointInterface DXLPORT_CONTROL::joint_eff_if

private

Definition at line 83 of file dxlport_control.h.

joint_limits_interface::PositionJointSoftLimitsInterface DXLPORT_CONTROL::joint_limits_if

private

Definition at line 84 of file dxlport_control.h.

uint8_t DXLPORT_CONTROL::joint_num

private

Definition at line 77 of file dxlport_control.h.

hardware_interface::PositionJointInterface DXLPORT_CONTROL::joint_pos_if

private

Definition at line 82 of file dxlport_control.h.

hardware_interface::JointStateInterface DXLPORT_CONTROL::joint_stat_if

private

Definition at line 81 of file dxlport_control.h.

std::vector<JOINT_CONTROL> DXLPORT_CONTROL::joints

Definition at line 74 of file dxlport_control.h.

dynamixel::PacketHandler* DXLPORT_CONTROL::packetHandler

private

Definition at line 79 of file dxlport_control.h.

bool DXLPORT_CONTROL::port_stat

private

Definition at line 78 of file dxlport_control.h.

dynamixel::PortHandler* DXLPORT_CONTROL::portHandler

private

Definition at line 80 of file dxlport_control.h.

dynamixel::GroupBulkRead* DXLPORT_CONTROL::readMovementGroup

private

Definition at line 86 of file dxlport_control.h.

dynamixel::GroupBulkRead* DXLPORT_CONTROL::readTempGroup

private

Definition at line 85 of file dxlport_control.h.

uint32_t DXLPORT_CONTROL::rx_err

private

Definition at line 90 of file dxlport_control.h.

uint32_t DXLPORT_CONTROL::tempCount

Definition at line 73 of file dxlport_control.h.

ros::Time DXLPORT_CONTROL::tempTime

private

Definition at line 92 of file dxlport_control.h.

uint32_t DXLPORT_CONTROL::tx_err

private

Definition at line 91 of file dxlport_control.h.

dynamixel::GroupBulkWrite* DXLPORT_CONTROL::writeGoalGroup

private

Definition at line 87 of file dxlport_control.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation