#include <kuka_hardware_interface.h>

Inheritance diagram for kuka_rsi_hw_interface::KukaHardwareInterface:

Public Member Functions
void	configure ()

	KukaHardwareInterface ()

bool	read (const ros::Time time, const ros::Duration period)

void	start ()

bool	write (const ros::Time time, const ros::Duration period)

	~KukaHardwareInterface ()

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)

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

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

	RobotHW ()

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

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

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
ros::Duration	control_period_

ros::Duration	elapsed_time_

std::string	in_buffer_

unsigned long long	ipoc_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

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_

std::vector< double >	joint_velocity_command_

std::string	local_host_

int	local_port_

double	loop_hz_

unsigned int	n_dof_

ros::NodeHandle	nh_

std::string	out_buffer_

hardware_interface::PositionJointInterface	position_joint_interface_

std::string	remote_host_

std::string	remote_port_

RSICommand	rsi_command_

std::vector< double >	rsi_initial_joint_positions_

std::vector< double >	rsi_joint_position_corrections_

RSIState	rsi_state_

std::unique_ptr< realtime_tools::RealtimePublisher< std_msgs::String > >	rt_rsi_pub_

std::unique_ptr< UDPServer >	server_

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 75 of file kuka_hardware_interface.h.

Constructor & Destructor Documentation

kuka_rsi_hw_interface::KukaHardwareInterface::KukaHardwareInterface ( )

Definition at line 48 of file kuka_hardware_interface.cpp.

kuka_rsi_hw_interface::KukaHardwareInterface::~KukaHardwareInterface ( )

Definition at line 87 of file kuka_hardware_interface.cpp.

Member Function Documentation

void kuka_rsi_hw_interface::KukaHardwareInterface::configure ( )

Definition at line 162 of file kuka_hardware_interface.cpp.

bool kuka_rsi_hw_interface::KukaHardwareInterface::read	(	const ros::Time	time,
		const ros::Duration	period
	)

Definition at line 92 of file kuka_hardware_interface.cpp.

void kuka_rsi_hw_interface::KukaHardwareInterface::start ( )

Definition at line 131 of file kuka_hardware_interface.cpp.

bool kuka_rsi_hw_interface::KukaHardwareInterface::write	(	const ros::Time	time,
		const ros::Duration	period
	)

Definition at line 116 of file kuka_hardware_interface.cpp.

Member Data Documentation

ros::Duration kuka_rsi_hw_interface::KukaHardwareInterface::control_period_

private

Definition at line 112 of file kuka_hardware_interface.h.

ros::Duration kuka_rsi_hw_interface::KukaHardwareInterface::elapsed_time_

private

Definition at line 113 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::in_buffer_

private

Definition at line 108 of file kuka_hardware_interface.h.

unsigned long long kuka_rsi_hw_interface::KukaHardwareInterface::ipoc_

private

Definition at line 99 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_effort_

private

Definition at line 89 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_effort_command_

private

Definition at line 92 of file kuka_hardware_interface.h.

std::vector<std::string> kuka_rsi_hw_interface::KukaHardwareInterface::joint_names_

private

Definition at line 85 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_position_

private

Definition at line 87 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_position_command_

private

Definition at line 90 of file kuka_hardware_interface.h.

hardware_interface::JointStateInterface kuka_rsi_hw_interface::KukaHardwareInterface::joint_state_interface_

private

Definition at line 117 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_velocity_

private

Definition at line 88 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::joint_velocity_command_

private

Definition at line 91 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::local_host_

private

Definition at line 104 of file kuka_hardware_interface.h.

int kuka_rsi_hw_interface::KukaHardwareInterface::local_port_

private

Definition at line 105 of file kuka_hardware_interface.h.

double kuka_rsi_hw_interface::KukaHardwareInterface::loop_hz_

private

Definition at line 114 of file kuka_hardware_interface.h.

unsigned int kuka_rsi_hw_interface::KukaHardwareInterface::n_dof_

private

Definition at line 83 of file kuka_hardware_interface.h.

ros::NodeHandle kuka_rsi_hw_interface::KukaHardwareInterface::nh_

private

Definition at line 81 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::out_buffer_

private

Definition at line 109 of file kuka_hardware_interface.h.

hardware_interface::PositionJointInterface kuka_rsi_hw_interface::KukaHardwareInterface::position_joint_interface_

private

Definition at line 118 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::remote_host_

private

Definition at line 106 of file kuka_hardware_interface.h.

std::string kuka_rsi_hw_interface::KukaHardwareInterface::remote_port_

private

Definition at line 107 of file kuka_hardware_interface.h.

RSICommand kuka_rsi_hw_interface::KukaHardwareInterface::rsi_command_

private

Definition at line 96 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::rsi_initial_joint_positions_

private

Definition at line 97 of file kuka_hardware_interface.h.

std::vector<double> kuka_rsi_hw_interface::KukaHardwareInterface::rsi_joint_position_corrections_

private

Definition at line 98 of file kuka_hardware_interface.h.

RSIState kuka_rsi_hw_interface::KukaHardwareInterface::rsi_state_

private

Definition at line 95 of file kuka_hardware_interface.h.

std::unique_ptr<realtime_tools::RealtimePublisher<std_msgs::String> > kuka_rsi_hw_interface::KukaHardwareInterface::rt_rsi_pub_

private

Definition at line 101 of file kuka_hardware_interface.h.

std::unique_ptr<UDPServer> kuka_rsi_hw_interface::KukaHardwareInterface::server_

private

Definition at line 103 of file kuka_hardware_interface.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation