#include <melfa_hardware_interface.h>

Inheritance diagram for MelfaHW:

Public Member Functions
void	diagnose (diagnostic_updater::DiagnosticStatusWrapper &stat)

ros::Duration	getPeriod ()

	MelfaHW (double period)

void	read (void)

void	update (void)

void	write (void)

void	write_first (void)

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
struct sockaddr_in	addr_

double	cmd [JOINT_NUM]

int	counter_

double	eff [JOINT_NUM]

bool	joint7_is_linear_

bool	joint8_is_linear_

hardware_interface::PositionJointInterface	joint_pos_interface

hardware_interface::JointStateInterface	joint_state_interface

double	period_

double	pos [JOINT_NUM]

MXTCMD	recv_buff_

std::string	robot_ip_

MXTCMD	send_buff_

int	socket_

ros::Time	time_now_

ros::Time	time_old_

bool	use_joint7_

bool	use_joint8_

double	vel [JOINT_NUM]

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 30 of file melfa_hardware_interface.h.

Constructor & Destructor Documentation

MelfaHW::MelfaHW ( double period )

Definition at line 17 of file melfa_hardware_interface.cpp.

Member Function Documentation

void MelfaHW::diagnose ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 229 of file melfa_hardware_interface.cpp.

ros::Duration MelfaHW::getPeriod ( )

inline

Definition at line 40 of file melfa_hardware_interface.h.

void MelfaHW::read ( void )

Definition at line 156 of file melfa_hardware_interface.cpp.

void MelfaHW::update ( void )

void MelfaHW::write ( void )

Definition at line 106 of file melfa_hardware_interface.cpp.

void MelfaHW::write_first ( void )

Definition at line 84 of file melfa_hardware_interface.cpp.

Member Data Documentation

struct sockaddr_in MelfaHW::addr_

private

Definition at line 51 of file melfa_hardware_interface.h.

double MelfaHW::cmd[JOINT_NUM]

private

Definition at line 69 of file melfa_hardware_interface.h.

int MelfaHW::counter_

private

Definition at line 55 of file melfa_hardware_interface.h.

double MelfaHW::eff[JOINT_NUM]

private

Definition at line 72 of file melfa_hardware_interface.h.

bool MelfaHW::joint7_is_linear_

private

Definition at line 62 of file melfa_hardware_interface.h.

bool MelfaHW::joint8_is_linear_

private

Definition at line 64 of file melfa_hardware_interface.h.

hardware_interface::PositionJointInterface MelfaHW::joint_pos_interface

private

Definition at line 67 of file melfa_hardware_interface.h.

hardware_interface::JointStateInterface MelfaHW::joint_state_interface

private

Definition at line 66 of file melfa_hardware_interface.h.

double MelfaHW::period_

private

Definition at line 45 of file melfa_hardware_interface.h.

double MelfaHW::pos[JOINT_NUM]

private

Definition at line 70 of file melfa_hardware_interface.h.

MXTCMD MelfaHW::recv_buff_

private

Definition at line 54 of file melfa_hardware_interface.h.

std::string MelfaHW::robot_ip_

private

Definition at line 49 of file melfa_hardware_interface.h.

MXTCMD MelfaHW::send_buff_

private

Definition at line 53 of file melfa_hardware_interface.h.

int MelfaHW::socket_

private

Definition at line 50 of file melfa_hardware_interface.h.

ros::Time MelfaHW::time_now_

private

Definition at line 46 of file melfa_hardware_interface.h.

ros::Time MelfaHW::time_old_

private

Definition at line 47 of file melfa_hardware_interface.h.

bool MelfaHW::use_joint7_

private

Definition at line 58 of file melfa_hardware_interface.h.

bool MelfaHW::use_joint8_

private

Definition at line 60 of file melfa_hardware_interface.h.

double MelfaHW::vel[JOINT_NUM]

private

Definition at line 71 of file melfa_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