Public Member Functions | Private Attributes | List of all members
MelfaHW Class Reference

#include <melfa_hardware_interface.h>

Inheritance diagram for MelfaHW:
Inheritance graph

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< ResourceManagerBaseinterface_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 ( )

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_

Definition at line 51 of file melfa_hardware_interface.h.

double MelfaHW::cmd[JOINT_NUM]

Definition at line 69 of file melfa_hardware_interface.h.

int MelfaHW::counter_

Definition at line 55 of file melfa_hardware_interface.h.

double MelfaHW::eff[JOINT_NUM]

Definition at line 72 of file melfa_hardware_interface.h.

bool MelfaHW::joint7_is_linear_

Definition at line 62 of file melfa_hardware_interface.h.

bool MelfaHW::joint8_is_linear_

Definition at line 64 of file melfa_hardware_interface.h.

hardware_interface::PositionJointInterface MelfaHW::joint_pos_interface

Definition at line 67 of file melfa_hardware_interface.h.

hardware_interface::JointStateInterface MelfaHW::joint_state_interface

Definition at line 66 of file melfa_hardware_interface.h.

double MelfaHW::period_

Definition at line 45 of file melfa_hardware_interface.h.

double MelfaHW::pos[JOINT_NUM]

Definition at line 70 of file melfa_hardware_interface.h.

MXTCMD MelfaHW::recv_buff_

Definition at line 54 of file melfa_hardware_interface.h.

std::string MelfaHW::robot_ip_

Definition at line 49 of file melfa_hardware_interface.h.

MXTCMD MelfaHW::send_buff_

Definition at line 53 of file melfa_hardware_interface.h.

int MelfaHW::socket_

Definition at line 50 of file melfa_hardware_interface.h.

ros::Time MelfaHW::time_now_

Definition at line 46 of file melfa_hardware_interface.h.

ros::Time MelfaHW::time_old_

Definition at line 47 of file melfa_hardware_interface.h.

bool MelfaHW::use_joint7_

Definition at line 58 of file melfa_hardware_interface.h.

bool MelfaHW::use_joint8_

Definition at line 60 of file melfa_hardware_interface.h.

double MelfaHW::vel[JOINT_NUM]

Definition at line 71 of file melfa_hardware_interface.h.

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

Author(s): Ryosuke Tajima
autogenerated on Mon Jun 10 2019 14:04:51