dynamixel::DynamixelLoop< Protocol > Class Template Reference

#include <control_loop.hpp>

Public Member Functions
	DynamixelLoop (ros::NodeHandle &nh, std::shared_ptr< hw_int > hardware_interface)
void	update (const ros::TimerEvent &)

Private Types
using	hw_int = typename dynamixel::DynamixelHardwareInterface< Protocol >

Private Attributes
std::shared_ptr< controller_manager::ControllerManager >	_controller_manager
steady_clock::time_point	_current_time
double	_cycle_time_error_threshold
ros::Duration	_desired_update_freq
ros::Duration	_elapsed_time
std::shared_ptr< hw_int >	_hardware_interface
	Abstract Hardware Interface for your robot. More...
steady_clock::time_point	_last_time
double	_loop_hz
ros::NodeHandle	_nh
ros::Timer	_non_realtime_loop

Detailed Description

template<class Protocol>
class dynamixel::DynamixelLoop< Protocol >

Definition at line 61 of file control_loop.hpp.

Member Typedef Documentation

template<class Protocol>

using dynamixel::DynamixelLoop< Protocol >::hw_int = typename dynamixel::DynamixelHardwareInterface<Protocol>

private

Definition at line 62 of file control_loop.hpp.

Constructor & Destructor Documentation

template<class Protocol>

dynamixel::DynamixelLoop< Protocol >::DynamixelLoop ( ros::NodeHandle &  nh, std::shared_ptr< hw_int >  hardware_interface  )

inline

Definition at line 65 of file control_loop.hpp.

Member Function Documentation

template<class Protocol>

void dynamixel::DynamixelLoop< Protocol >::update ( const ros::TimerEvent &  )

inline

Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

Definition at line 100 of file control_loop.hpp.

Member Data Documentation

template<class Protocol>

std::shared_ptr<controller_manager::ControllerManager> dynamixel::DynamixelLoop< Protocol >::_controller_manager

private

ROS Controller Manager and Runner

This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.

Definition at line 152 of file control_loop.hpp.

template<class Protocol>

steady_clock::time_point dynamixel::DynamixelLoop< Protocol >::_current_time

private

Definition at line 144 of file control_loop.hpp.

template<class Protocol>

double dynamixel::DynamixelLoop< Protocol >::_cycle_time_error_threshold

private

Definition at line 137 of file control_loop.hpp.

template<class Protocol>

ros::Duration dynamixel::DynamixelLoop< Protocol >::_desired_update_freq

private

Definition at line 136 of file control_loop.hpp.

template<class Protocol>

ros::Duration dynamixel::DynamixelLoop< Protocol >::_elapsed_time

private

Definition at line 141 of file control_loop.hpp.

template<class Protocol>

std::shared_ptr<hw_int> dynamixel::DynamixelLoop< Protocol >::_hardware_interface

private

Abstract Hardware Interface for your robot.

Definition at line 155 of file control_loop.hpp.

template<class Protocol>

steady_clock::time_point dynamixel::DynamixelLoop< Protocol >::_last_time

private

Definition at line 143 of file control_loop.hpp.

template<class Protocol>

double dynamixel::DynamixelLoop< Protocol >::_loop_hz

private

Definition at line 142 of file control_loop.hpp.

template<class Protocol>

ros::NodeHandle dynamixel::DynamixelLoop< Protocol >::_nh

private

Definition at line 133 of file control_loop.hpp.

template<class Protocol>

ros::Timer dynamixel::DynamixelLoop< Protocol >::_non_realtime_loop

private

Definition at line 140 of file control_loop.hpp.

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

• control_loop.hpp