The qbrobotics Device HardWare Resources contains vectors of named joints. More...

#include <qb_device_hardware_resources.h>

Public Member Functions
	qbDeviceHWResources ()
	Do nothing. More...

	qbDeviceHWResources (const int &joint_size)
	Construct the Resource specifying no joint names but only the size of all the members. More...

	qbDeviceHWResources (const std::vector< std::string > &joints)
	Construct the Resource with the given vector of joint names. More...

void	setJoints (const std::vector< std::string > &joints)
	Initialize the joint names of the Resource with the given vector. More...

void	setNumberOfJoints (const int &joint_size)
	Resize all the Resource members with the given size. More...

void	setReliability (const int &max_repeats, const int &consecutive_failures)
	Compare the given consecutive failures w.r.t. More...

virtual	~qbDeviceHWResources ()
	Do nothing. More...

Public Attributes
std::vector< double >	commands

int	consecutive_failures

std::vector< double >	efforts

bool	is_reliable

std::vector< joint_limits_interface::JointLimits >	limits

std::vector< std::string >	names

std::vector< double >	positions

std::vector< joint_limits_interface::SoftJointLimits >	soft_limits

ros::Time	stamp

std::vector< double >	velocities

Detailed Description

The qbrobotics Device HardWare Resources contains vectors of named joints.

The string vector names is related one-to-one to all the other vectors: the joint state which is split in the three vectors positions, velocities and efforts, the commands, and the two joint limits vectors limits and soft_limits.

See also: PositionJointSaturationHandle

Todo:: Actually the soft limits are not yet supported.

Definition at line 94 of file qb_device_hardware_resources.h.

Constructor & Destructor Documentation

qb_device_hardware_interface::qbDeviceHWResources::qbDeviceHWResources ( )

inline

Do nothing.

Definition at line 99 of file qb_device_hardware_resources.h.

qb_device_hardware_interface::qbDeviceHWResources::qbDeviceHWResources ( const int & joint_size )

inline

Construct the Resource specifying no joint names but only the size of all the members.

Parameters

joint_size The number of joints to be initialized.

See also: setNumberOfJoints()

Definition at line 106 of file qb_device_hardware_resources.h.

qb_device_hardware_interface::qbDeviceHWResources::qbDeviceHWResources ( const std::vector< std::string > & joints )

inline

Construct the Resource with the given vector of joint names.

Also resize all the other members with the same vector size, i.e. the position vector (and all the others) are paired one-to-one with the joint names.

Parameters

joints The joint names to be initialized.

See also: setJoints()

Definition at line 117 of file qb_device_hardware_resources.h.

virtual qb_device_hardware_interface::qbDeviceHWResources::~qbDeviceHWResources ( )

inlinevirtual

Do nothing.

Definition at line 124 of file qb_device_hardware_resources.h.

Member Function Documentation

void qb_device_hardware_interface::qbDeviceHWResources::setJoints ( const std::vector< std::string > & joints )

inline

Initialize the joint names of the Resource with the given vector.

Also resize all the other members with the same vector size, i.e. the position vector (and all the others) are paired one-to-one with the joint names.

Parameters

joints The joint names to be initialized.

See also: setNumberOfJoints()

Definition at line 132 of file qb_device_hardware_resources.h.

void qb_device_hardware_interface::qbDeviceHWResources::setNumberOfJoints ( const int & joint_size )

inline

Resize all the Resource members with the given size.

Parameters

joint_size The number of joints to be initialized.

Definition at line 141 of file qb_device_hardware_resources.h.

void qb_device_hardware_interface::qbDeviceHWResources::setReliability	(	const int &	max_repeats,
		const int &	consecutive_failures
	)

inline

Compare the given consecutive failures w.r.t.

the given maximum number of consecutive repetitions permitted and set the reliability of the measurements.

Parameters

max_repeats	The maximum number of consecutive repetitions to mark retrieved data as corrupted
consecutive_failures	The number of consecutive failures while retrieving measurements from the device

Definition at line 158 of file qb_device_hardware_resources.h.

Member Data Documentation

std::vector<double> qb_device_hardware_interface::qbDeviceHWResources::commands

Definition at line 167 of file qb_device_hardware_resources.h.

int qb_device_hardware_interface::qbDeviceHWResources::consecutive_failures

Definition at line 172 of file qb_device_hardware_resources.h.

std::vector<double> qb_device_hardware_interface::qbDeviceHWResources::efforts

Definition at line 166 of file qb_device_hardware_resources.h.

bool qb_device_hardware_interface::qbDeviceHWResources::is_reliable

Definition at line 171 of file qb_device_hardware_resources.h.

std::vector<joint_limits_interface::JointLimits> qb_device_hardware_interface::qbDeviceHWResources::limits

Definition at line 168 of file qb_device_hardware_resources.h.

std::vector<std::string> qb_device_hardware_interface::qbDeviceHWResources::names

Definition at line 163 of file qb_device_hardware_resources.h.

std::vector<double> qb_device_hardware_interface::qbDeviceHWResources::positions

Definition at line 164 of file qb_device_hardware_resources.h.

std::vector<joint_limits_interface::SoftJointLimits> qb_device_hardware_interface::qbDeviceHWResources::soft_limits

Definition at line 169 of file qb_device_hardware_resources.h.

ros::Time qb_device_hardware_interface::qbDeviceHWResources::stamp

Definition at line 170 of file qb_device_hardware_resources.h.

std::vector<double> qb_device_hardware_interface::qbDeviceHWResources::velocities

Definition at line 165 of file qb_device_hardware_resources.h.

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

qb_device_hardware_resources.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation