Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
thormang3::BaseModule Class Reference

#include <base_module.h>

Inheritance diagram for thormang3::BaseModule:
Inheritance graph

Public Member Functions

 BaseModule ()
void initialize (const int control_cycle_msec, robotis_framework::Robot *robot)
void initPoseMsgCallback (const std_msgs::String::ConstPtr &msg)
void initPoseTrajGenerateProc ()
bool isRunning ()
void poseGenerateProc (Eigen::MatrixXd joint_angle_pose)
void poseGenerateProc (std::map< std::string, double > &joint_angle_pose)
void process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)
void stop ()
virtual ~BaseModule ()
- Public Member Functions inherited from robotis_framework::MotionModule
ControlMode getControlMode ()
bool getModuleEnable ()
std::string getModuleName ()
virtual void onModuleDisable ()
virtual void onModuleEnable ()
void setModuleEnable (bool enable)
virtual ~MotionModule ()

Public Attributes

- Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * > result_

Private Member Functions

void parseIniPoseData (const std::string &path)
void publishDoneMsg (const std::string done_msg)
void publishStatusMsg (unsigned int type, std::string msg)
void queueThread ()
void setCtrlModule (std::string module)

Private Attributes

int control_cycle_msec_
bool has_goal_joints_
bool ini_pose_only_
std::map< std::string, int > joint_name_to_id_
ros::Publisher movement_done_pub_
boost::thread queue_thread_
ros::Publisher set_ctrl_module_pub_
ros::Publisher status_msg_pub_
boost::thread tra_gene_tread_

Additional Inherited Members

- Static Public Member Functions inherited from robotis_framework::Singleton< BaseModule >
static void destroyInstance ()
static T * getInstance ()
- Protected Member Functions inherited from robotis_framework::Singleton< BaseModule >
Singletonoperator= (Singleton const &)
 Singleton (Singleton const &)
 Singleton ()
- Protected Attributes inherited from robotis_framework::MotionModule
ControlMode control_mode_
bool enable_
std::string module_name_

Detailed Description

Definition at line 71 of file base_module.h.

Constructor & Destructor Documentation

BaseModule::BaseModule ( )

Definition at line 34 of file base_module.cpp.

BaseModule::~BaseModule ( )

Definition at line 130 of file base_module.cpp.

Member Function Documentation

void BaseModule::initialize ( const int  control_cycle_msec,
robotis_framework::Robot robot 

Implements robotis_framework::MotionModule.

Definition at line 135 of file base_module.cpp.

void BaseModule::initPoseMsgCallback ( const std_msgs::String::ConstPtr &  msg)

Definition at line 238 of file base_module.cpp.

void BaseModule::initPoseTrajGenerateProc ( )

Definition at line 265 of file base_module.cpp.

bool BaseModule::isRunning ( )

Implements robotis_framework::MotionModule.

Definition at line 377 of file base_module.cpp.

void BaseModule::parseIniPoseData ( const std::string &  path)

Definition at line 149 of file base_module.cpp.

void BaseModule::poseGenerateProc ( Eigen::MatrixXd  joint_angle_pose)

Definition at line 299 of file base_module.cpp.

void BaseModule::poseGenerateProc ( std::map< std::string, double > &  joint_angle_pose)

Definition at line 331 of file base_module.cpp.

void BaseModule::process ( std::map< std::string, robotis_framework::Dynamixel * >  dxls,
std::map< std::string, double >  sensors 

Implements robotis_framework::MotionModule.

Definition at line 382 of file base_module.cpp.

void BaseModule::publishDoneMsg ( const std::string  done_msg)

Definition at line 478 of file base_module.cpp.

void BaseModule::publishStatusMsg ( unsigned int  type,
std::string  msg 

Definition at line 467 of file base_module.cpp.

void BaseModule::queueThread ( )

Definition at line 221 of file base_module.cpp.

void BaseModule::setCtrlModule ( std::string  module)

Definition at line 459 of file base_module.cpp.

void BaseModule::stop ( )

Implements robotis_framework::MotionModule.

Definition at line 454 of file base_module.cpp.

Member Data Documentation

BaseModuleState* thormang3::BaseModule::base_module_state_

Definition at line 94 of file base_module.h.

int thormang3::BaseModule::control_cycle_msec_

Definition at line 105 of file base_module.h.

bool thormang3::BaseModule::has_goal_joints_

Definition at line 117 of file base_module.h.

bool thormang3::BaseModule::ini_pose_only_

Definition at line 118 of file base_module.h.

std::map<std::string, int> thormang3::BaseModule::joint_name_to_id_

Definition at line 115 of file base_module.h.

BaseJointState* thormang3::BaseModule::joint_state_

Definition at line 95 of file base_module.h.

ros::Publisher thormang3::BaseModule::movement_done_pub_

Definition at line 113 of file base_module.h.

boost::thread thormang3::BaseModule::queue_thread_

Definition at line 107 of file base_module.h.

ros::Publisher thormang3::BaseModule::set_ctrl_module_pub_

Definition at line 112 of file base_module.h.

ros::Publisher thormang3::BaseModule::status_msg_pub_

Definition at line 111 of file base_module.h.

boost::thread thormang3::BaseModule::tra_gene_tread_

Definition at line 108 of file base_module.h.

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

Author(s): SCH
autogenerated on Mon Jun 10 2019 15:37:51