Public Member Functions | Protected Attributes | List of all members
khi_robot_control::KhiRobotDriver Class Referenceabstract

#include <khi_robot_driver.h>

Inheritance diagram for khi_robot_control::KhiRobotDriver:
Inheritance graph
[legend]

Public Member Functions

virtual bool activate (const int &cont_no, KhiRobotData &data)=0
 
virtual bool close (const int &cont_no)=0
 
virtual bool commandHandler (khi_robot_msgs::KhiRobotCmd::Request &req, khi_robot_msgs::KhiRobotCmd::Response &res)=0
 
bool contLimitCheck (const int &cont_no, const int &limit)
 
virtual bool deactivate (const int &cont_no, const KhiRobotData &data)=0
 
void errorPrint (const char *format,...)
 
virtual bool getPeriodDiff (const int &cont_no, double &diff)=0
 
int getState (const int &cont_no)
 
std::string getStateName (const int &cont_no)
 
int getStateTrigger (const int &cont_no)
 
virtual bool hold (const int &cont_no, const KhiRobotData &data)=0
 
void infoPrint (const char *format,...)
 
virtual bool initialize (const int &cont_no, const double &period, KhiRobotData &data, const bool in_simulation=false)=0
 
bool isTransitionState (const int &cont_no)
 
void jointPrint (std::string name, const KhiRobotData &data)
 
 KhiRobotDriver ()
 
virtual bool open (const int &cont_no, const std::string &ip_address, KhiRobotData &data)=0
 
virtual bool readData (const int &cont_no, KhiRobotData &data)=0
 
bool setState (const int &cont_no, const int &state)
 
bool setStateTrigger (const int &cont_no, const int &state_trigger)
 
virtual bool updateState (const int &cont_no, const KhiRobotData &data)=0
 
void warnPrint (const char *format,...)
 
virtual bool writeData (const int &cont_no, const KhiRobotData &data)=0
 
virtual ~KhiRobotDriver ()
 

Protected Attributes

KhiRobotControllerInfo cont_info [KHI_MAX_CONTROLLER]
 
std::string driver_name
 
int error_code
 
bool in_simulation
 
int return_code
 

Detailed Description

Definition at line 123 of file khi_robot_driver.h.

Constructor & Destructor Documentation

khi_robot_control::KhiRobotDriver::KhiRobotDriver ( )
inline

Definition at line 126 of file khi_robot_driver.h.

virtual khi_robot_control::KhiRobotDriver::~KhiRobotDriver ( )
inlinevirtual

Definition at line 291 of file khi_robot_driver.h.

Member Function Documentation

virtual bool khi_robot_control::KhiRobotDriver::activate ( const int &  cont_no,
KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

virtual bool khi_robot_control::KhiRobotDriver::close ( const int &  cont_no)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

virtual bool khi_robot_control::KhiRobotDriver::commandHandler ( khi_robot_msgs::KhiRobotCmd::Request &  req,
khi_robot_msgs::KhiRobotCmd::Response &  res 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

bool khi_robot_control::KhiRobotDriver::contLimitCheck ( const int &  cont_no,
const int &  limit 
)
inline

Definition at line 225 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::deactivate ( const int &  cont_no,
const KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

void khi_robot_control::KhiRobotDriver::errorPrint ( const char *  format,
  ... 
)
inline

Definition at line 260 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::getPeriodDiff ( const int &  cont_no,
double &  diff 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

int khi_robot_control::KhiRobotDriver::getState ( const int &  cont_no)
inline

Definition at line 138 of file khi_robot_driver.h.

std::string khi_robot_control::KhiRobotDriver::getStateName ( const int &  cont_no)
inline

Definition at line 144 of file khi_robot_driver.h.

int khi_robot_control::KhiRobotDriver::getStateTrigger ( const int &  cont_no)
inline

Definition at line 192 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::hold ( const int &  cont_no,
const KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

void khi_robot_control::KhiRobotDriver::infoPrint ( const char *  format,
  ... 
)
inline

Definition at line 238 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::initialize ( const int &  cont_no,
const double &  period,
KhiRobotData &  data,
const bool  in_simulation = false 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

bool khi_robot_control::KhiRobotDriver::isTransitionState ( const int &  cont_no)
inline

Definition at line 177 of file khi_robot_driver.h.

void khi_robot_control::KhiRobotDriver::jointPrint ( std::string  name,
const KhiRobotData &  data 
)
inline

Definition at line 271 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::open ( const int &  cont_no,
const std::string &  ip_address,
KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

virtual bool khi_robot_control::KhiRobotDriver::readData ( const int &  cont_no,
KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

bool khi_robot_control::KhiRobotDriver::setState ( const int &  cont_no,
const int &  state 
)
inline

Definition at line 158 of file khi_robot_driver.h.

bool khi_robot_control::KhiRobotDriver::setStateTrigger ( const int &  cont_no,
const int &  state_trigger 
)
inline

Definition at line 205 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::updateState ( const int &  cont_no,
const KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

void khi_robot_control::KhiRobotDriver::warnPrint ( const char *  format,
  ... 
)
inline

Definition at line 249 of file khi_robot_driver.h.

virtual bool khi_robot_control::KhiRobotDriver::writeData ( const int &  cont_no,
const KhiRobotData &  data 
)
pure virtual

Implemented in khi_robot_control::KhiRobotKrnxDriver.

Member Data Documentation

KhiRobotControllerInfo khi_robot_control::KhiRobotDriver::cont_info[KHI_MAX_CONTROLLER]
protected

Definition at line 307 of file khi_robot_driver.h.

std::string khi_robot_control::KhiRobotDriver::driver_name
protected

Definition at line 306 of file khi_robot_driver.h.

int khi_robot_control::KhiRobotDriver::error_code
protected

Definition at line 309 of file khi_robot_driver.h.

bool khi_robot_control::KhiRobotDriver::in_simulation
protected

Definition at line 305 of file khi_robot_driver.h.

int khi_robot_control::KhiRobotDriver::return_code
protected

Definition at line 308 of file khi_robot_driver.h.

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

khi_robot_control
Author(s): nakamichi_d
autogenerated on Fri Mar 26 2021 02:34:21