#include <denso_robot_hw.h>

Inheritance diagram for denso_robot_control::DensoRobotHW:

Public Member Functions
	DensoRobotHW ()

ros::Duration	getPeriod () const

ros::Time	getTime () const

HRESULT	Initialize ()

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

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

virtual	~DensoRobotHW ()

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)

Private Member Functions
void	Callback_ChangeMode (const Int32::ConstPtr &msg)

void	Callback_HandIO (const Int32::ConstPtr &msg)

void	Callback_MiniIO (const Int32::ConstPtr &msg)

void	Callback_RecvUserIO (const UserIO::ConstPtr &msg)

void	Callback_SendUserIO (const UserIO::ConstPtr &msg)

HRESULT	ChangeModeWithClearError (int mode)

HRESULT	CheckRobotType ()

Private Attributes
double	m_cmd [JOINT_MAX]

DensoController_Ptr	m_ctrl

double	m_eff [JOINT_MAX]

DensoRobotCore_Ptr	m_eng

hardware_interface::JointStateInterface	m_JntStInterface

std::vector< double >	m_joint

boost::mutex	m_mtxMode

double	m_pos [JOINT_MAX]

hardware_interface::PositionJointInterface	m_PosJntInterface

ros::Publisher	m_pubCurMode

ros::Publisher	m_pubCurrent

ros::Publisher	m_pubHandIO

ros::Publisher	m_pubMiniIO

ros::Publisher	m_pubRecvUserIO

int	m_recvfmt

DensoRobotRC8_Ptr	m_rob

int	m_robJoints

std::string	m_robName

int	m_sendfmt

ros::Subscriber	m_subChangeMode

ros::Subscriber	m_subHandIO

ros::Subscriber	m_subMiniIO

ros::Subscriber	m_subRecvUserIO

ros::Subscriber	m_subSendUserIO

int	m_type [JOINT_MAX]

DensoVariable_Ptr	m_varErr

double	m_vel [JOINT_MAX]

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 54 of file denso_robot_hw.h.

Constructor & Destructor Documentation

denso_robot_control::DensoRobotHW::DensoRobotHW ( )

Definition at line 38 of file denso_robot_hw.cpp.

denso_robot_control::DensoRobotHW::~DensoRobotHW ( )

virtual

Definition at line 61 of file denso_robot_hw.cpp.

Member Function Documentation

void denso_robot_control::DensoRobotHW::Callback_ChangeMode ( const Int32::ConstPtr & msg )

private

Definition at line 280 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_HandIO ( const Int32::ConstPtr & msg )

private

Definition at line 410 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_MiniIO ( const Int32::ConstPtr & msg )

private

Definition at line 405 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_RecvUserIO ( const UserIO::ConstPtr & msg )

private

Definition at line 420 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_SendUserIO ( const UserIO::ConstPtr & msg )

private

Definition at line 415 of file denso_robot_hw.cpp.

HRESULT denso_robot_control::DensoRobotHW::ChangeModeWithClearError ( int mode )

private

Definition at line 214 of file denso_robot_hw.cpp.

HRESULT denso_robot_control::DensoRobotHW::CheckRobotType ( )

private

Definition at line 291 of file denso_robot_hw.cpp.

ros::Duration denso_robot_control::DensoRobotHW::getPeriod ( ) const

inline

Definition at line 67 of file denso_robot_hw.h.

ros::Time denso_robot_control::DensoRobotHW::getTime ( ) const

inline

Definition at line 62 of file denso_robot_hw.h.

HRESULT denso_robot_control::DensoRobotHW::Initialize ( )

Definition at line 66 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::read	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 315 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::write	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 342 of file denso_robot_hw.cpp.

Member Data Documentation

double denso_robot_control::DensoRobotHW::m_cmd[JOINT_MAX]

private

Definition at line 89 of file denso_robot_hw.h.

DensoController_Ptr denso_robot_control::DensoRobotHW::m_ctrl

private

Definition at line 97 of file denso_robot_hw.h.

double denso_robot_control::DensoRobotHW::m_eff[JOINT_MAX]

private

Definition at line 92 of file denso_robot_hw.h.

DensoRobotCore_Ptr denso_robot_control::DensoRobotHW::m_eng

private

Definition at line 96 of file denso_robot_hw.h.

hardware_interface::JointStateInterface denso_robot_control::DensoRobotHW::m_JntStInterface

private

Definition at line 87 of file denso_robot_hw.h.

std::vector<double> denso_robot_control::DensoRobotHW::m_joint

private

Definition at line 94 of file denso_robot_hw.h.

boost::mutex denso_robot_control::DensoRobotHW::m_mtxMode

private

Definition at line 118 of file denso_robot_hw.h.

double denso_robot_control::DensoRobotHW::m_pos[JOINT_MAX]

private

Definition at line 90 of file denso_robot_hw.h.

hardware_interface::PositionJointInterface denso_robot_control::DensoRobotHW::m_PosJntInterface

private

Definition at line 88 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubCurMode

private

Definition at line 112 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubCurrent

private

Definition at line 116 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubHandIO

private

Definition at line 114 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubMiniIO

private

Definition at line 113 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubRecvUserIO

private

Definition at line 115 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_recvfmt

private

Definition at line 104 of file denso_robot_hw.h.

DensoRobotRC8_Ptr denso_robot_control::DensoRobotHW::m_rob

private

Definition at line 98 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_robJoints

private

Definition at line 102 of file denso_robot_hw.h.

std::string denso_robot_control::DensoRobotHW::m_robName

private

Definition at line 101 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_sendfmt

private

Definition at line 103 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subChangeMode

private

Definition at line 106 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subHandIO

private

Definition at line 108 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subMiniIO

private

Definition at line 107 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subRecvUserIO

private

Definition at line 110 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subSendUserIO

private

Definition at line 109 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_type[JOINT_MAX]

private

Definition at line 93 of file denso_robot_hw.h.

DensoVariable_Ptr denso_robot_control::DensoRobotHW::m_varErr

private

Definition at line 99 of file denso_robot_hw.h.

double denso_robot_control::DensoRobotHW::m_vel[JOINT_MAX]

private

Definition at line 91 of file denso_robot_hw.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation