robotiq_3f_gripper_control::Robotiq3FGripperHWInterface Class Reference

#include <robotiq_3f_gripper_hw_interface.h>

Inheritance diagram for robotiq_3f_gripper_control::Robotiq3FGripperHWInterface:

Public Member Functions
void	configure (hardware_interface::JointStateInterface &joint_state_interface, hardware_interface::PositionJointInterface &joint_position_interface)
void	read (ros::Duration d)
	Robotiq3FGripperHWInterface (ros::NodeHandle nh, boost::shared_ptr< Robotiq3FGripperAPI > driver)
void	write (ros::Duration d)
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)

Protected Attributes
boost::shared_ptr< Robotiq3FGripperDiagnostics >	hw_diagnostics_
boost::shared_ptr< Robotiq3FGripperAPI >	hw_driver_
boost::shared_ptr< Robotiq3FGripperROS >	hw_ros_
std::vector< double >	j_cmd_pos_
std::vector< double >	j_curr_eff_
std::vector< double >	j_curr_pos_
std::vector< double >	j_curr_vel_
std::vector< std::string >	joint_names_
Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_

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

Detailed Description

Definition at line 38 of file robotiq_3f_gripper_hw_interface.h.

Constructor & Destructor Documentation

Robotiq3FGripperHWInterface::Robotiq3FGripperHWInterface	(	ros::NodeHandle	nh,
		boost::shared_ptr< Robotiq3FGripperAPI >	driver
	)

Definition at line 29 of file robotiq_3f_gripper_hw_interface.cpp.

Member Function Documentation

void Robotiq3FGripperHWInterface::configure	(	hardware_interface::JointStateInterface &	joint_state_interface,
		hardware_interface::PositionJointInterface &	joint_position_interface
	)

Connect and register jonit state interface

Connect and register joint position interface

Definition at line 63 of file robotiq_3f_gripper_hw_interface.cpp.

void Robotiq3FGripperHWInterface::read

(

ros::Duration

d

)

Definition at line 87 of file robotiq_3f_gripper_hw_interface.cpp.

void Robotiq3FGripperHWInterface::write

(

ros::Duration

d

)

Definition at line 97 of file robotiq_3f_gripper_hw_interface.cpp.

Member Data Documentation

boost::shared_ptr<Robotiq3FGripperDiagnostics> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::hw_diagnostics_

protected

Definition at line 57 of file robotiq_3f_gripper_hw_interface.h.

boost::shared_ptr<Robotiq3FGripperAPI> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::hw_driver_

protected

Definition at line 56 of file robotiq_3f_gripper_hw_interface.h.

boost::shared_ptr<Robotiq3FGripperROS> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::hw_ros_

protected

Definition at line 58 of file robotiq_3f_gripper_hw_interface.h.

std::vector<double> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::j_cmd_pos_

protected

Definition at line 54 of file robotiq_3f_gripper_hw_interface.h.

std::vector<double> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::j_curr_eff_

protected

Definition at line 53 of file robotiq_3f_gripper_hw_interface.h.

std::vector<double> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::j_curr_pos_

protected

Definition at line 51 of file robotiq_3f_gripper_hw_interface.h.

std::vector<double> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::j_curr_vel_

protected

Definition at line 52 of file robotiq_3f_gripper_hw_interface.h.

std::vector<std::string> robotiq_3f_gripper_control::Robotiq3FGripperHWInterface::joint_names_

protected

Definition at line 49 of file robotiq_3f_gripper_hw_interface.h.

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

• robotiq_3f_gripper_hw_interface.h
• robotiq_3f_gripper_hw_interface.cpp