qb_device_hardware_interface::qbDeviceHWInterfaces Class Reference

The qbrobotics Device HardWare Interfaces is a simple class aimed to group all the hardware_interface:: related structures in a unique place. More...

#include <qb_device_hardware_resources.h>

Public Member Functions
void	initialize (hardware_interface::RobotHW *robot, qbDeviceHWResources &joints)
	Initialize the joint_state and joint_position HW interfaces with the given device Resource. More...
	qbDeviceHWInterfaces ()
	Do nothing. More...
virtual	~qbDeviceHWInterfaces ()
	Do nothing. More...

Public Attributes
hardware_interface::PositionJointInterface	joint_position
hardware_interface::JointStateInterface	joint_state

Detailed Description

The qbrobotics Device HardWare Interfaces is a simple class aimed to group all the hardware_interface:: related structures in a unique place.

The interfaces supported are the one to read the state (position, velocity and effort) of an array of named joints, and the the one to send reference commands to another array of named position-based joints, i.e. device position control.

See also

qbDeviceHWResources

Todo:

Actually qbrobotics devices are controllable both in position and in current (effort), but the hardware_interface::EffortJointInterface is not yet planned to be implemented.

Definition at line 184 of file qb_device_hardware_resources.h.

Constructor & Destructor Documentation

qb_device_hardware_interface::qbDeviceHWInterfaces::qbDeviceHWInterfaces ( )

inline

Do nothing.

See also

initialize()

Definition at line 190 of file qb_device_hardware_resources.h.

virtual qb_device_hardware_interface::qbDeviceHWInterfaces::~qbDeviceHWInterfaces ( )

inlinevirtual

Do nothing.

Definition at line 195 of file qb_device_hardware_resources.h.

Member Function Documentation

void qb_device_hardware_interface::qbDeviceHWInterfaces::initialize ( hardware_interface::RobotHW *  robot, qbDeviceHWResources &  joints  )

inline

Initialize the joint_state and joint_position HW interfaces with the given device Resource.

The joint state interface links joint position, velocity and effort to the proper joint name (same as in the robot_description), while the joint position interface allows to control the same joint with joint a position reference command.

Parameters

robot	The RobotHW pointer, necessary to register the interfaces.
joints	The device HW joints Resource.

Definition at line 204 of file qb_device_hardware_resources.h.

Member Data Documentation

hardware_interface::PositionJointInterface qb_device_hardware_interface::qbDeviceHWInterfaces::joint_position

Definition at line 217 of file qb_device_hardware_resources.h.

hardware_interface::JointStateInterface qb_device_hardware_interface::qbDeviceHWInterfaces::joint_state

Definition at line 216 of file qb_device_hardware_resources.h.

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

• qb_device_hardware_resources.h