#include <kuka_eki_hw_interface.h>

Inheritance diagram for kuka_eki_hw_interface::KukaEkiHardwareInterface:

Public Member Functions
void	init ()

	KukaEkiHardwareInterface ()

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

void	start ()

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

	~KukaEkiHardwareInterface ()

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 Member Functions
void	eki_check_read_state_deadline ()

bool	eki_read_state (std::vector< double > &joint_position, std::vector< double > &joint_velocity, std::vector< double > &joint_effort, int &cmd_buff_len)

bool	eki_write_command (const std::vector< double > &joint_position)

Static Private Member Functions
static void	eki_handle_receive (const boost::system::error_code &ec, size_t length, boost::system::error_code out_ec, size_t out_length)

Private Attributes
ros::Duration	control_period_

boost::asio::deadline_timer	deadline_

int	eki_cmd_buff_len_

int	eki_max_cmd_buff_len_ = 5

int	eki_read_state_timeout_ = 5

std::string	eki_server_address_

boost::asio::ip::udp::endpoint	eki_server_endpoint_

std::string	eki_server_port_

boost::asio::ip::udp::socket	eki_server_socket_

ros::Duration	elapsed_time_

boost::asio::io_service	ios_

std::vector< double >	joint_effort_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

hardware_interface::JointStateInterface	joint_state_interface_

std::vector< double >	joint_velocity_

double	loop_hz_

const unsigned int	n_dof_ = 6

ros::NodeHandle	nh_

hardware_interface::PositionJointInterface	position_joint_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 53 of file kuka_eki_hw_interface.h.

Constructor & Destructor Documentation

kuka_eki_hw_interface::KukaEkiHardwareInterface::KukaEkiHardwareInterface ( )

Definition at line 49 of file kuka_eki_hw_interface.cpp.

kuka_eki_hw_interface::KukaEkiHardwareInterface::~KukaEkiHardwareInterface ( )

Definition at line 57 of file kuka_eki_hw_interface.cpp.

Member Function Documentation

void kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_check_read_state_deadline ( )

private

Definition at line 60 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_handle_receive	(	const boost::system::error_code &	ec,
		size_t	length,
		boost::system::error_code *	out_ec,
		size_t *	out_length
	)

staticprivate

Definition at line 74 of file kuka_eki_hw_interface.cpp.

bool kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_read_state	(	std::vector< double > &	joint_position,
		std::vector< double > &	joint_velocity,
		std::vector< double > &	joint_effort,
		int &	cmd_buff_len
	)

private

Definition at line 82 of file kuka_eki_hw_interface.cpp.

bool kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_write_command ( const std::vector< double > & joint_position )

private

Definition at line 143 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::init ( )

Definition at line 170 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 275 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::start ( )

Definition at line 245 of file kuka_eki_hw_interface.cpp.

void kuka_eki_hw_interface::KukaEkiHardwareInterface::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 288 of file kuka_eki_hw_interface.cpp.

Member Data Documentation

ros::Duration kuka_eki_hw_interface::KukaEkiHardwareInterface::control_period_

private

Definition at line 72 of file kuka_eki_hw_interface.h.

boost::asio::deadline_timer kuka_eki_hw_interface::KukaEkiHardwareInterface::deadline_

private

Definition at line 83 of file kuka_eki_hw_interface.h.

int kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_cmd_buff_len_

private

Definition at line 68 of file kuka_eki_hw_interface.h.

int kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_max_cmd_buff_len_ = 5

private

Definition at line 69 of file kuka_eki_hw_interface.h.

int kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_read_state_timeout_ = 5

private

Definition at line 81 of file kuka_eki_hw_interface.h.

std::string kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_address_

private

Definition at line 66 of file kuka_eki_hw_interface.h.

boost::asio::ip::udp::endpoint kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_endpoint_

private

Definition at line 84 of file kuka_eki_hw_interface.h.

std::string kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_port_

private

Definition at line 67 of file kuka_eki_hw_interface.h.

boost::asio::ip::udp::socket kuka_eki_hw_interface::KukaEkiHardwareInterface::eki_server_socket_

private

Definition at line 85 of file kuka_eki_hw_interface.h.

ros::Duration kuka_eki_hw_interface::KukaEkiHardwareInterface::elapsed_time_

private

Definition at line 73 of file kuka_eki_hw_interface.h.

boost::asio::io_service kuka_eki_hw_interface::KukaEkiHardwareInterface::ios_

private

Definition at line 82 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_effort_

private

Definition at line 62 of file kuka_eki_hw_interface.h.

std::vector<std::string> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_names_

private

Definition at line 59 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_position_

private

Definition at line 60 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_position_command_

private

Definition at line 63 of file kuka_eki_hw_interface.h.

hardware_interface::JointStateInterface kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_state_interface_

private

Definition at line 77 of file kuka_eki_hw_interface.h.

std::vector<double> kuka_eki_hw_interface::KukaEkiHardwareInterface::joint_velocity_

private

Definition at line 61 of file kuka_eki_hw_interface.h.

double kuka_eki_hw_interface::KukaEkiHardwareInterface::loop_hz_

private

Definition at line 74 of file kuka_eki_hw_interface.h.

const unsigned int kuka_eki_hw_interface::KukaEkiHardwareInterface::n_dof_ = 6

private

Definition at line 58 of file kuka_eki_hw_interface.h.

ros::NodeHandle kuka_eki_hw_interface::KukaEkiHardwareInterface::nh_

private

Definition at line 56 of file kuka_eki_hw_interface.h.

hardware_interface::PositionJointInterface kuka_eki_hw_interface::KukaEkiHardwareInterface::position_joint_interface_

private

Definition at line 78 of file kuka_eki_hw_interface.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation