#include <hardware_interface.h>

Public Member Functions
bool	addAccelerometer (Accelerometer *accelerometer)
	Add an accelerometer to the hardware interface. More...

bool	addActuator (Actuator *actuator)
	Add an actuator to the hardware interface. More...

bool	addAnalogIn (AnalogIn *analog_in)
	Add an analog-in device to the hardware interface. More...

bool	addCustomHW (CustomHW *custom_hw)
	Add a Custom Hardware device to the hardware interface. More...

bool	addDigitalOut (DigitalOut *digital_out)
	Add an digital I/O to the hardware interface. More...

bool	addForceTorque (ForceTorque *forcetorque)
	Add a FT sensor to the hardware interface. More...

bool	addPressureSensor (PressureSensor *sensor)
	Add an pressure sensor to the hardware interface. More...

bool	addProjector (Projector *projector)
	Add an projector to the hardware interface. More...

Accelerometer *	getAccelerometer (const std::string &name) const
	Get a pointer to the accelerometer by name. More...

Actuator *	getActuator (const std::string &name) const
	Get a pointer to the actuator by name. More...

AnalogIn *	getAnalogIn (const std::string &name) const
	Get a pointer to the analog-in device by name. More...

CustomHW *	getCustomHW (const std::string &name) const
	Get a pointer to the Custom Hardware device by name. More...

DigitalOut *	getDigitalOut (const std::string &name) const
	Get a pointer to the digital I/O by name. More...

ForceTorque *	getForceTorque (const std::string &name) const
	Get a pointer to the FT sensor by name. More...

PressureSensor *	getPressureSensor (const std::string &name) const
	Get a pointer to the pressure sensor by name. More...

Projector *	getProjector (const std::string &name) const
	Get a pointer to the projector by name. More...

Public Attributes
AccelerometerMap	accelerometers_

ActuatorMap	actuators_

AnalogInMap	analog_ins_

ros::Time	current_time_
	The time at which the commands were sent to the hardware. More...

CustomHWMap	custom_hws_

DigitalOutMap	digital_outs_

ForceTorqueMap	ft_sensors_

PressureSensorMap	pressure_sensors_

ProjectorMap	projectors_

Detailed Description

The HardwareInterface class provides access to the PR2 hardware components that are controlled via EtherCAT. These components include:

Actuators
Finger-tip Pressure Sensors
Accelerometers
Force/Torque Sensors
Digital I/Os
Projectors

For each component type, there exists a class definition that consists of the following three fields:

name - A unique name for this instance of a component type

command - A class which is used to send commands to this component

status - A class which is used to return the status of this component

Drivers that provide one or more of these components register the corresponding class for that component by name with the HardwareInterface. For a given component type, names must be unique.

Controllers can retrieve a pointer to a component's class by name. The component is controlled using the command_ field of the component class, and its status is given in the status_ field.

Definition at line 408 of file hardware_interface.h.

Member Function Documentation

bool pr2_hardware_interface::HardwareInterface::addAccelerometer ( Accelerometer * accelerometer )

inline

Add an accelerometer to the hardware interface.

Parameters

accelerometer A pointer to the Accelerometer

Returns: true if successful, false if name is a duplicate

Definition at line 526 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addActuator ( Actuator * actuator )

inline

Add an actuator to the hardware interface.

Parameters

actuator A pointer to the Actuator

Returns: true if successful, false if name is a duplicate

Definition at line 504 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addAnalogIn ( AnalogIn * analog_in )

inline

Add an analog-in device to the hardware interface.

Parameters

analog_in A pointer to the AnalogIn

Returns: true if successful, false if name is a duplicate

Definition at line 570 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addCustomHW ( CustomHW * custom_hw )

inline

Add a Custom Hardware device to the hardware interface.

Parameters

custom_hw A pointer to the CustomHW

Returns: true if successful, false if name is a duplicate

Definition at line 581 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addDigitalOut ( DigitalOut * digital_out )

inline

Add an digital I/O to the hardware interface.

Parameters

digital_out A pointer to the DigitalOut

Returns: true if successful, false if name is a duplicate

Definition at line 548 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addForceTorque ( ForceTorque * forcetorque )

inline

Add a FT sensor to the hardware interface.

Parameters

forcetorque A pointer to the ForceTorque

Returns: true if successful, false if name is a duplicate

Definition at line 537 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addPressureSensor ( PressureSensor * sensor )

inline

Add an pressure sensor to the hardware interface.

Parameters

sensor A pointer to the PressureSensor

Returns: true if successful, false if name is a duplicate

Definition at line 515 of file hardware_interface.h.

bool pr2_hardware_interface::HardwareInterface::addProjector ( Projector * projector )

inline

Add an projector to the hardware interface.

Parameters

projector A pointer to the Projector

Returns: true if successful, false if name is a duplicate

Definition at line 559 of file hardware_interface.h.

Accelerometer* pr2_hardware_interface::HardwareInterface::getAccelerometer ( const std::string & name ) const

inline

Get a pointer to the accelerometer by name.

Parameters

name	The name of the accelerometer

Returns: A pointer to an Accelerometer. Returns NULL if name is not valid.

Definition at line 444 of file hardware_interface.h.

Actuator* pr2_hardware_interface::HardwareInterface::getActuator ( const std::string & name ) const

inline

Get a pointer to the actuator by name.

Parameters

name	The name of the actuator

Returns: A pointer to an Actuator. Returns NULL if name is not valid.

Definition at line 424 of file hardware_interface.h.

AnalogIn* pr2_hardware_interface::HardwareInterface::getAnalogIn ( const std::string & name ) const

inline

Get a pointer to the analog-in device by name.

Parameters

name	The name of the analog-in device

Returns: A pointer to an AnalogIn. Returns NULL if name is not valid.

Definition at line 484 of file hardware_interface.h.

CustomHW* pr2_hardware_interface::HardwareInterface::getCustomHW ( const std::string & name ) const

inline

Get a pointer to the Custom Hardware device by name.

Parameters

name	The name of the Custom Hardware device

Returns: A pointer to a CustomHW. Returns NULL if name is not valid.

Definition at line 494 of file hardware_interface.h.

DigitalOut* pr2_hardware_interface::HardwareInterface::getDigitalOut ( const std::string & name ) const

inline

Get a pointer to the digital I/O by name.

Parameters

name	The name of the digital I/O

Returns: A pointer to an DigitalOut. Returns NULL if name is not valid.

Definition at line 464 of file hardware_interface.h.

ForceTorque* pr2_hardware_interface::HardwareInterface::getForceTorque ( const std::string & name ) const

inline

Get a pointer to the FT sensor by name.

Parameters

name	The name of the FT sensor

Returns: A pointer to a FT sensor. Returns NULL if name is not valid.

Definition at line 454 of file hardware_interface.h.

PressureSensor* pr2_hardware_interface::HardwareInterface::getPressureSensor ( const std::string & name ) const

inline

Get a pointer to the pressure sensor by name.

Parameters

name	The name of the pressure sensor

Returns: A pointer to a PressureSensor. Returns NULL if name is not valid.

Definition at line 434 of file hardware_interface.h.

Projector* pr2_hardware_interface::HardwareInterface::getProjector ( const std::string & name ) const

inline

Get a pointer to the projector by name.

Parameters

name	The name of the projector

Returns: A pointer to an Projector. Returns NULL if name is not valid.

Definition at line 474 of file hardware_interface.h.

Member Data Documentation

AccelerometerMap pr2_hardware_interface::HardwareInterface::accelerometers_

Definition at line 413 of file hardware_interface.h.

ActuatorMap pr2_hardware_interface::HardwareInterface::actuators_

Definition at line 411 of file hardware_interface.h.

AnalogInMap pr2_hardware_interface::HardwareInterface::analog_ins_

Definition at line 417 of file hardware_interface.h.

ros::Time pr2_hardware_interface::HardwareInterface::current_time_

The time at which the commands were sent to the hardware.

Definition at line 587 of file hardware_interface.h.

CustomHWMap pr2_hardware_interface::HardwareInterface::custom_hws_

Definition at line 418 of file hardware_interface.h.

DigitalOutMap pr2_hardware_interface::HardwareInterface::digital_outs_

Definition at line 415 of file hardware_interface.h.

ForceTorqueMap pr2_hardware_interface::HardwareInterface::ft_sensors_

Definition at line 414 of file hardware_interface.h.

PressureSensorMap pr2_hardware_interface::HardwareInterface::pressure_sensors_

Definition at line 412 of file hardware_interface.h.

ProjectorMap pr2_hardware_interface::HardwareInterface::projectors_

Definition at line 416 of file hardware_interface.h.

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

hardware_interface.h

Public Member Functions

Public Attributes

Detailed Description

name - A unique name for this instance of a component type

command - A class which is used to send commands to this component

status - A class which is used to return the status of this component

Member Function Documentation

Member Data Documentation