Hardware interface for a robot. More...

#include <sim_hw_interface.h>

Inheritance diagram for ros_control_boilerplate::SimHWInterface:

Public Member Functions
virtual void	enforceLimits (ros::Duration &period)

virtual void	init ()
	Initialize the robot hardware interface. More...

virtual void	read (ros::Duration &elapsed_time)
	Read the state from the robot hardware. More...

	SimHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor. More...

virtual void	write (ros::Duration &elapsed_time)
	Write the command to the robot hardware. More...

Public Member Functions inherited from ros_control_boilerplate::GenericHWInterface
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
	Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch() More...

virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
	Perform (in non-realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand. More...

	GenericHWInterface (const ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor. More...

std::string	printCommandHelper ()
	Helper for debugging a joint's command. More...

virtual void	printState ()
	Helper for debugging a joint's state. More...

std::string	printStateHelper ()

virtual void	read (const ros::Time &, const ros::Duration &period) override
	Read the state from the robot hardware. More...

virtual void	registerJointLimits (const hardware_interface::JointHandle &joint_handle_position, const hardware_interface::JointHandle &joint_handle_velocity, const hardware_interface::JointHandle &joint_handle_effort, std::size_t joint_id)
	Register the limits of the joint specified by joint_id and joint_handle. The limits are retrieved from the urdf_model. More...

virtual void	reset ()
	Set all members to default values. More...

virtual void	write (const ros::Time &, const ros::Duration &period) override
	Write the command to the robot hardware. More...

virtual	~GenericHWInterface ()
	Destructor. More...

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 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)

	RobotHW ()

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 Member Functions
virtual void	positionControlSimulation (ros::Duration &elapsed_time, const std::size_t joint_id)
	Basic model of system for position control. More...

Protected Member Functions inherited from ros_control_boilerplate::GenericHWInterface
virtual void	loadURDF (const ros::NodeHandle &nh, std::string param_name)
	Get the URDF XML from the parameter server. More...

Protected Attributes
std::vector< double >	joint_position_prev_

std::string	name_

double	p_error_

int	sim_control_mode_ = 0

double	v_error_

Protected Attributes inherited from ros_control_boilerplate::GenericHWInterface
joint_limits_interface::EffortJointSaturationInterface	eff_jnt_sat_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	eff_jnt_soft_limits_

hardware_interface::EffortJointInterface	effort_joint_interface_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< double >	joint_position_lower_limits_

std::vector< double >	joint_position_upper_limits_

hardware_interface::JointStateInterface	joint_state_interface_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

std::vector< double >	joint_velocity_limits_

std::string	name_

ros::NodeHandle	nh_

std::size_t	num_joints_

joint_limits_interface::PositionJointSaturationInterface	pos_jnt_sat_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pos_jnt_soft_limits_

hardware_interface::PositionJointInterface	position_joint_interface_

urdf::Model *	urdf_model_

bool	use_rosparam_joint_limits_

bool	use_soft_limits_if_available_

joint_limits_interface::VelocityJointSaturationInterface	vel_jnt_sat_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vel_jnt_soft_limits_

hardware_interface::VelocityJointInterface	velocity_joint_interface_

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

Hardware interface for a robot.

Definition at line 49 of file sim_hw_interface.h.

Constructor & Destructor Documentation

ros_control_boilerplate::SimHWInterface::SimHWInterface	(	ros::NodeHandle &	nh,
		urdf::Model *	urdf_model = `NULL`
	)

Constructor.

Parameters

nh	- Node handle for topics.

Definition at line 47 of file sim_hw_interface.cpp.

Member Function Documentation

void ros_control_boilerplate::SimHWInterface::enforceLimits ( ros::Duration & period )

virtual

Enforce limits for all values before writing

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 121 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::init ( )

virtual

Initialize the robot hardware interface.

Reimplemented from ros_control_boilerplate::GenericHWInterface.

Definition at line 63 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::positionControlSimulation	(	ros::Duration &	elapsed_time,
		const std::size_t	joint_id
	)

protectedvirtual

Basic model of system for position control.

Definition at line 127 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::read ( ros::Duration & elapsed_time )

virtual

Read the state from the robot hardware.

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 74 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::write ( ros::Duration & elapsed_time )

virtual

Write the command to the robot hardware.

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 79 of file sim_hw_interface.cpp.

Member Data Documentation

std::vector<double> ros_control_boilerplate::SimHWInterface::joint_position_prev_

protected

Definition at line 83 of file sim_hw_interface.h.

std::string ros_control_boilerplate::SimHWInterface::name_

protected

Definition at line 76 of file sim_hw_interface.h.

double ros_control_boilerplate::SimHWInterface::p_error_

protected

Definition at line 79 of file sim_hw_interface.h.

int ros_control_boilerplate::SimHWInterface::sim_control_mode_ = 0

protected

Definition at line 86 of file sim_hw_interface.h.

double ros_control_boilerplate::SimHWInterface::v_error_

protected

Definition at line 80 of file sim_hw_interface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation