franka_hw::FrankaCombinedHW Class Reference

#include <franka_combined_hw.h>

Inheritance diagram for franka_hw::FrankaCombinedHW:

Public Member Functions
bool	controllerNeedsReset ()
	Checks whether the controller needs to be reset. More...
	FrankaCombinedHW ()
	Creates an instance of CombinedFrankaHW. More...
bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	The init function is called to initialize the CombinedFrankaHW from a non-realtime thread. More...
void	read (const ros::Time &time, const ros::Duration &period) override
	Reads data from the robot HW. More...
	~FrankaCombinedHW () override=default
Public Member Functions inherited from combined_robot_hw::CombinedRobotHW
	CombinedRobotHW ()
virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void	write (const ros::Time &time, const ros::Duration &period)
virtual	~CombinedRobotHW ()
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
	RobotHW ()
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)

Protected Attributes
std::unique_ptr< actionlib::SimpleActionServer< franka_msgs::ErrorRecoveryAction > >	combined_recovery_action_server_
Protected Attributes inherited from combined_robot_hw::CombinedRobotHW
std::vector< hardware_interface::RobotHWSharedPtr >	robot_hw_list_
pluginlib::ClassLoader< hardware_interface::RobotHW >	robot_hw_loader_
ros::NodeHandle	robot_hw_nh_
ros::NodeHandle	root_nh_
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_

Private Member Functions
void	handleError ()
bool	hasError ()
void	triggerError ()

Private Attributes
bool	is_recovering_ {false}

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 Member Functions inherited from combined_robot_hw::CombinedRobotHW
void	filterControllerList (const std::list< hardware_interface::ControllerInfo > &list, std::list< hardware_interface::ControllerInfo > &filtered_list, hardware_interface::RobotHWSharedPtr robot_hw)
virtual bool	loadRobotHW (const std::string &name)

Detailed Description

Definition at line 17 of file franka_combined_hw.h.

Constructor & Destructor Documentation

franka_hw::FrankaCombinedHW::FrankaCombinedHW ( )

default

Creates an instance of CombinedFrankaHW.

franka_hw::FrankaCombinedHW::~FrankaCombinedHW ( )

overridedefault

Member Function Documentation

bool franka_hw::FrankaCombinedHW::controllerNeedsReset

(

)

Checks whether the controller needs to be reset.

Returns

True if the controllers needs to be reset, false otherwise.

Definition at line 63 of file franka_combined_hw.cpp.

void franka_hw::FrankaCombinedHW::handleError ( )

private

Definition at line 78 of file franka_combined_hw.cpp.

bool franka_hw::FrankaCombinedHW::hasError ( )

private

Definition at line 85 of file franka_combined_hw.cpp.

bool franka_hw::FrankaCombinedHW::init ( ros::NodeHandle &  root_nh, ros::NodeHandle &  robot_hw_nh  )

overridevirtual

The init function is called to initialize the CombinedFrankaHW from a non-realtime thread.

Parameters

[in]	root_nh	A NodeHandle in the root of the caller namespace.
[in]	robot_hw_nh	A NodeHandle in the namespace from which the RobotHW. should read its configuration.

Returns

True if initialization was successful.

Reimplemented from combined_robot_hw::CombinedRobotHW.

Definition at line 20 of file franka_combined_hw.cpp.

void franka_hw::FrankaCombinedHW::read ( const ros::Time &  time, const ros::Duration &  period  )

overridevirtual

Reads data from the robot HW.

Parameters

[in]	time	The current time.
[in]	period	The time passed since the last call to read.

Reimplemented from combined_robot_hw::CombinedRobotHW.

Definition at line 57 of file franka_combined_hw.cpp.

void franka_hw::FrankaCombinedHW::triggerError ( )

private

Definition at line 99 of file franka_combined_hw.cpp.

Member Data Documentation

std::unique_ptr<actionlib::SimpleActionServer<franka_msgs::ErrorRecoveryAction> > franka_hw::FrankaCombinedHW::combined_recovery_action_server_

protected

Definition at line 55 of file franka_combined_hw.h.

bool franka_hw::FrankaCombinedHW::is_recovering_ {false}

private

Definition at line 61 of file franka_combined_hw.h.

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

• franka_combined_hw.h
• franka_combined_hw.cpp