#include <gazebo_hardware_sim.h>

Inheritance diagram for sr_gazebo_sim::SrGazeboHWSim:

[legend]

Public Member Functions
bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)

void	readSim (ros::Time time, ros::Duration period)

	SrGazeboHWSim ()

void	writeSim (ros::Time time, ros::Duration period)

Public Member Functions inherited from gazebo_ros_control::DefaultRobotHWSim
virtual void	eStopActive (const bool active)

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual	~RobotHWSim ()

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 Member Functions
void	addFakeTransmissionsForJ0 (std::vector< transmission_interface::TransmissionInfo > *transmissions)

template<class T >
void	fixJointName (std::vector< T > *items, const std::string old_joint_name, const std::string new_joint_name) const

void	initializeFakeRobotState (const urdf::Model *const urdf_model, const std::vector< transmission_interface::TransmissionInfo > &transmissions)

bool	isHandJoint (const std::vector< transmission_interface::TransmissionInfo > &transmissions, const std::string &joint_name) const

void	registerSecondHardwareInterface (std::vector< transmission_interface::TransmissionInfo > transmissions)

Protected Member Functions inherited from gazebo_ros_control::DefaultRobotHWSim
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)

Protected Attributes
ros_ethercat_model::RobotState	fake_state_

boost::unordered_map< std::string, std::string >	j2_j1_joints_

ros_ethercat_model::RobotStateInterface	robot_state_interface_

Protected Attributes inherited from gazebo_ros_control::DefaultRobotHWSim
bool	e_stop_active_

	EFFORT

hardware_interface::EffortJointInterface	ej_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_

joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_

std::vector< ControlMethod >	joint_control_methods_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< double >	joint_lower_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< int >	joint_types_

std::vector< double >	joint_upper_limits_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

hardware_interface::JointStateInterface	js_interface_

bool	last_e_stop_active_

std::vector< double >	last_joint_position_command_

unsigned int	n_dof_

std::string	physics_type_

std::vector< control_toolbox::Pid >	pid_controllers_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

	POSITION

	POSITION_PID

std::vector< gazebo::physics::JointPtr >	sim_joints_

	VELOCITY

	VELOCITY_PID

hardware_interface::VelocityJointInterface	vj_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_

joint_limits_interface::VelocityJointSaturationInterface	vj_sat_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_

Static Protected Attributes
static const std::string	j0_transmission_name = "sr_mechanism_model/J0Transmission"

static const std::string	simple_transmission_name = "sr_mechanism_model/SimpleTransmission"

Additional Inherited Members
Protected Types inherited from gazebo_ros_control::DefaultRobotHWSim
enum	ControlMethod

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 42 of file gazebo_hardware_sim.h.

Constructor & Destructor Documentation

sr_gazebo_sim::SrGazeboHWSim::SrGazeboHWSim ( )

Definition at line 37 of file gazebo_hardware_sim.cpp.

Member Function Documentation

void sr_gazebo_sim::SrGazeboHWSim::addFakeTransmissionsForJ0 ( std::vector< transmission_interface::TransmissionInfo > * transmissions )

protected

Definition at line 61 of file gazebo_hardware_sim.cpp.

template<class T >

void sr_gazebo_sim::SrGazeboHWSim::fixJointName	(	std::vector< T > *	items,
		const std::string	old_joint_name,
		const std::string	new_joint_name
	)		const

protected

Definition at line 43 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::initializeFakeRobotState	(	const urdf::Model *const	urdf_model,
		const std::vector< transmission_interface::TransmissionInfo > &	transmissions
	)

protected

Definition at line 122 of file gazebo_hardware_sim.cpp.

bool sr_gazebo_sim::SrGazeboHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)

virtual

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 166 of file gazebo_hardware_sim.cpp.

bool sr_gazebo_sim::SrGazeboHWSim::isHandJoint	(	const std::vector< transmission_interface::TransmissionInfo > &	transmissions,
		const std::string &	joint_name
	)		const

protected

Definition at line 101 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::readSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 183 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::registerSecondHardwareInterface ( std::vector< transmission_interface::TransmissionInfo > transmissions )

protected

Definition at line 143 of file gazebo_hardware_sim.cpp.

void sr_gazebo_sim::SrGazeboHWSim::writeSim	(	ros::Time	time,
		ros::Duration	period
	)

virtual

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 201 of file gazebo_hardware_sim.cpp.

Member Data Documentation

ros_ethercat_model::RobotState sr_gazebo_sim::SrGazeboHWSim::fake_state_

protected

Definition at line 76 of file gazebo_hardware_sim.h.

const std::string sr_gazebo_sim::SrGazeboHWSim::j0_transmission_name = "sr_mechanism_model/J0Transmission"

staticprotected

Definition at line 73 of file gazebo_hardware_sim.h.

boost::unordered_map<std::string, std::string> sr_gazebo_sim::SrGazeboHWSim::j2_j1_joints_

protected

Definition at line 78 of file gazebo_hardware_sim.h.

ros_ethercat_model::RobotStateInterface sr_gazebo_sim::SrGazeboHWSim::robot_state_interface_

protected

Definition at line 77 of file gazebo_hardware_sim.h.

const std::string sr_gazebo_sim::SrGazeboHWSim::simple_transmission_name = "sr_mechanism_model/SimpleTransmission"

staticprotected

Definition at line 74 of file gazebo_hardware_sim.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation