khi_robot_control::KhiRobotHardwareInterface Class Reference

#include <khi_robot_hardware_interface.h>

Inheritance diagram for khi_robot_control::KhiRobotHardwareInterface:

Public Member Functions
bool	activate ()
void	close ()
void	deactivate ()
bool	getPeriodDiff (double &diff)
int	getStateTrigger ()
bool	hold ()
	KhiRobotHardwareInterface ()
bool	open (const std::string &robot_name, const std::string &ip_address, const double &period, const bool in_simulation=false)
void	read (const ros::Time &time, const ros::Duration &period) override
int	updateState ()
void	write (const ros::Time &time, const ros::Duration &period) override
	~KhiRobotHardwareInterface ()
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)
	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)

Private Attributes
khi_robot_control::KhiRobotClient *	client
khi_robot_control::KhiRobotData	data
joint_limits_interface::PositionJointSaturationInterface	joint_limit_interface
hardware_interface::PositionJointInterface	joint_position_interface
hardware_interface::JointStateInterface	joint_state_interface

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 48 of file khi_robot_hardware_interface.h.

Constructor & Destructor Documentation

khi_robot_control::KhiRobotHardwareInterface::KhiRobotHardwareInterface

(

)

Definition at line 41 of file khi_robot_hardware_interface.cpp.

khi_robot_control::KhiRobotHardwareInterface::~KhiRobotHardwareInterface

(

)

Definition at line 45 of file khi_robot_hardware_interface.cpp.

Member Function Documentation

bool khi_robot_control::KhiRobotHardwareInterface::activate

(

)

Definition at line 117 of file khi_robot_hardware_interface.cpp.

void khi_robot_control::KhiRobotHardwareInterface::close

(

)

Definition at line 133 of file khi_robot_hardware_interface.cpp.

void khi_robot_control::KhiRobotHardwareInterface::deactivate

(

)

Definition at line 128 of file khi_robot_hardware_interface.cpp.

bool khi_robot_control::KhiRobotHardwareInterface::getPeriodDiff

(

double &

diff

)

Definition at line 160 of file khi_robot_hardware_interface.cpp.

int khi_robot_control::KhiRobotHardwareInterface::getStateTrigger

(

)

Definition at line 155 of file khi_robot_hardware_interface.cpp.

bool khi_robot_control::KhiRobotHardwareInterface::hold

(

)

Definition at line 123 of file khi_robot_hardware_interface.cpp.

bool khi_robot_control::KhiRobotHardwareInterface::open	(	const std::string &	robot_name,
		const std::string &	ip_address,
		const double &	period,
		const bool	in_simulation = false
	)

Definition at line 51 of file khi_robot_hardware_interface.cpp.

void khi_robot_control::KhiRobotHardwareInterface::read ( const ros::Time &  time, const ros::Duration &  period  )

overridevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 139 of file khi_robot_hardware_interface.cpp.

int khi_robot_control::KhiRobotHardwareInterface::updateState

(

)

Definition at line 150 of file khi_robot_hardware_interface.cpp.

void khi_robot_control::KhiRobotHardwareInterface::write ( const ros::Time &  time, const ros::Duration &  period  )

overridevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 144 of file khi_robot_hardware_interface.cpp.

Member Data Documentation

khi_robot_control::KhiRobotClient* khi_robot_control::KhiRobotHardwareInterface::client

private

Definition at line 71 of file khi_robot_hardware_interface.h.

khi_robot_control::KhiRobotData khi_robot_control::KhiRobotHardwareInterface::data

private

Definition at line 70 of file khi_robot_hardware_interface.h.

joint_limits_interface::PositionJointSaturationInterface khi_robot_control::KhiRobotHardwareInterface::joint_limit_interface

private

Definition at line 68 of file khi_robot_hardware_interface.h.

hardware_interface::PositionJointInterface khi_robot_control::KhiRobotHardwareInterface::joint_position_interface

private

Definition at line 67 of file khi_robot_hardware_interface.h.

hardware_interface::JointStateInterface khi_robot_control::KhiRobotHardwareInterface::joint_state_interface

private

Definition at line 66 of file khi_robot_hardware_interface.h.

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

• khi_robot_hardware_interface.h
• khi_robot_hardware_interface.cpp