dynamixel::DynamixelController Class Reference

#include <dynamixel_controller.h>

Public Member Functions
bool	control_loop ()
	DynamixelController ()
	~DynamixelController ()

Private Member Functions
void	getDynamixelInst ()
void	goalGripperPositionCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	goalJointPositionCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	initMsg ()
void	initPublisher ()
void	initSubscriber ()
void	readPosition (double *value)
void	readVelocity (double *value)
void	setOperatingMode ()
void	setSyncFunction ()
void	updateJointStates ()

Private Attributes
ros::Subscriber	goal_gripper_states_sub_
ros::Subscriber	goal_joint_states_sub_
DynamixelWorkbench *	gripper_controller_
std::vector< uint8_t >	gripper_id_
std::string	gripper_mode_
DynamixelWorkbench *	joint_controller_
std::vector< uint8_t >	joint_id_
std::string	joint_mode_
ros::Publisher	joint_states_pub_
ros::NodeHandle	node_handle_
ros::NodeHandle	priv_node_handle_
float	protocol_version_
std::string	robot_name_

Detailed Description

Definition at line 38 of file dynamixel_controller.h.

Constructor & Destructor Documentation

DynamixelController::DynamixelController

(

)

Definition at line 28 of file dynamixel_controller.cpp.

DynamixelController::~DynamixelController

(

)

Definition at line 63 of file dynamixel_controller.cpp.

Member Function Documentation

bool DynamixelController::control_loop

(

)

Definition at line 277 of file dynamixel_controller.cpp.

void DynamixelController::getDynamixelInst ( )

private

Definition at line 84 of file dynamixel_controller.cpp.

void DynamixelController::goalGripperPositionCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

private

Definition at line 269 of file dynamixel_controller.cpp.

void DynamixelController::goalJointPositionCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

private

Definition at line 252 of file dynamixel_controller.cpp.

void dynamixel::DynamixelController::initMsg ( )

private

void DynamixelController::initPublisher ( )

private

Definition at line 73 of file dynamixel_controller.cpp.

void DynamixelController::initSubscriber ( )

private

Definition at line 78 of file dynamixel_controller.cpp.

void DynamixelController::readPosition ( double *  value )

private

Definition at line 148 of file dynamixel_controller.cpp.

void DynamixelController::readVelocity ( double *  value )

private

Definition at line 176 of file dynamixel_controller.cpp.

void DynamixelController::setOperatingMode ( )

private

Definition at line 111 of file dynamixel_controller.cpp.

void DynamixelController::setSyncFunction ( )

private

Definition at line 137 of file dynamixel_controller.cpp.

void DynamixelController::updateJointStates ( )

private

Definition at line 204 of file dynamixel_controller.cpp.

Member Data Documentation

ros::Subscriber dynamixel::DynamixelController::goal_gripper_states_sub_

private

Definition at line 52 of file dynamixel_controller.h.

ros::Subscriber dynamixel::DynamixelController::goal_joint_states_sub_

private

Definition at line 51 of file dynamixel_controller.h.

DynamixelWorkbench* dynamixel::DynamixelController::gripper_controller_

private

Definition at line 63 of file dynamixel_controller.h.

std::vector<uint8_t> dynamixel::DynamixelController::gripper_id_

private

Definition at line 66 of file dynamixel_controller.h.

std::string dynamixel::DynamixelController::gripper_mode_

private

Definition at line 69 of file dynamixel_controller.h.

DynamixelWorkbench* dynamixel::DynamixelController::joint_controller_

private

Definition at line 62 of file dynamixel_controller.h.

std::vector<uint8_t> dynamixel::DynamixelController::joint_id_

private

Definition at line 65 of file dynamixel_controller.h.

std::string dynamixel::DynamixelController::joint_mode_

private

Definition at line 68 of file dynamixel_controller.h.

ros::Publisher dynamixel::DynamixelController::joint_states_pub_

private

Definition at line 48 of file dynamixel_controller.h.

ros::NodeHandle dynamixel::DynamixelController::node_handle_

private

Definition at line 42 of file dynamixel_controller.h.

ros::NodeHandle dynamixel::DynamixelController::priv_node_handle_

private

Definition at line 43 of file dynamixel_controller.h.

float dynamixel::DynamixelController::protocol_version_

private

Definition at line 60 of file dynamixel_controller.h.

std::string dynamixel::DynamixelController::robot_name_

private

Definition at line 59 of file dynamixel_controller.h.

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

• dynamixel_controller.h
• dynamixel_controller.cpp