#include <controller.h>

Inheritance diagram for ROSController:

[legend]

Public Member Functions
virtual bool	consume (RTState_V1_6__7 &state)

virtual bool	consume (RTState_V1_8 &state)

virtual bool	consume (RTState_V3_0__1 &state)

virtual bool	consume (RTState_V3_2__3 &state)

void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

virtual void	onRobotStateChange (RobotState state)

virtual void	onTimeout ()

	ROSController (URCommander &commander, TrajectoryFollower &follower, std::vector< std::string > &joint_names, double max_vel_change, std::string wrench_frame)

virtual void	setupConsumer ()

virtual	~ROSController ()

Public Member Functions inherited from URRTPacketConsumer
virtual bool	consume (shared_ptr< RTPacket > packet)

Public Member Functions inherited from IConsumer< RTPacket >
virtual void	stopConsumer ()

virtual void	teardownConsumer ()

Private Member Functions
void	read (RTShared &state)

template<typename T >
void	registerControllereInterface (T *interface)

template<typename T >
void	registerInterface (T *interface)

void	reset ()

bool	update ()

bool	write ()

Private 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)

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 ()

Private 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)

Private Attributes
HardwareInterface *	active_interface_

std::map< std::string, HardwareInterface * >	available_interfaces_

controller_manager::ControllerManager	controller_

JointInterface	joint_interface_

ros::Time	lastUpdate_

ros::NodeHandle	nh_

PositionInterface	position_interface_

bool	robot_state_received_

std::atomic< uint32_t >	service_cooldown_

std::atomic< bool >	service_enabled_

VelocityInterface	velocity_interface_

WrenchInterface	wrench_interface_

Private 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_

Detailed Description

Definition at line 34 of file controller.h.

Constructor & Destructor Documentation

ROSController::ROSController	(	URCommander &	commander,
		TrajectoryFollower &	follower,
		std::vector< std::string > &	joint_names,
		double	max_vel_change,
		std::string	wrench_frame
	)

Definition at line 21 of file controller.cpp.

virtual ROSController::~ROSController ( )

inlinevirtual

Definition at line 78 of file controller.h.

Member Function Documentation

virtual bool ROSController::consume ( RTState_V1_6__7 & state )

inlinevirtual

Implements URRTPacketConsumer.

Definition at line 86 of file controller.h.

virtual bool ROSController::consume ( RTState_V1_8 & state )

inlinevirtual

Implements URRTPacketConsumer.

Definition at line 91 of file controller.h.

virtual bool ROSController::consume ( RTState_V3_0__1 & state )

inlinevirtual

Implements URRTPacketConsumer.

Definition at line 96 of file controller.h.

virtual bool ROSController::consume ( RTState_V3_2__3 & state )

inlinevirtual

Implements URRTPacketConsumer.

Definition at line 101 of file controller.h.

void ROSController::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 41 of file controller.cpp.

void ROSController::onRobotStateChange ( RobotState state )

virtual

Implements Service.

Definition at line 141 of file controller.cpp.

void ROSController::onTimeout ( )

virtual

Reimplemented from IConsumer< RTPacket >.

Definition at line 136 of file controller.cpp.

void ROSController::read ( RTShared & state )

private

Definition at line 99 of file controller.cpp.

template<typename T >

void ROSController::registerControllereInterface ( T * interface )

inlineprivate

Definition at line 64 of file controller.h.

template<typename T >

void ROSController::registerInterface ( T * interface )

inlineprivate

Definition at line 59 of file controller.h.

void ROSController::reset ( )

private

Definition at line 91 of file controller.cpp.

void ROSController::setupConsumer ( )

virtual

Reimplemented from IConsumer< RTPacket >.

Definition at line 36 of file controller.cpp.

bool ROSController::update ( )

private

Definition at line 106 of file controller.cpp.

bool ROSController::write ( )

private

Definition at line 83 of file controller.cpp.

Member Data Documentation

HardwareInterface* ROSController::active_interface_

private

Definition at line 50 of file controller.h.

std::map<std::string, HardwareInterface*> ROSController::available_interfaces_

private

Definition at line 52 of file controller.h.

controller_manager::ControllerManager ROSController::controller_

private

Definition at line 39 of file controller.h.

JointInterface ROSController::joint_interface_

private

Definition at line 43 of file controller.h.

ros::Time ROSController::lastUpdate_

private

Definition at line 38 of file controller.h.

ros::NodeHandle ROSController::nh_

private

Definition at line 37 of file controller.h.

PositionInterface ROSController::position_interface_

private

Definition at line 46 of file controller.h.

bool ROSController::robot_state_received_

private

Definition at line 40 of file controller.h.

std::atomic<uint32_t> ROSController::service_cooldown_

private

Definition at line 55 of file controller.h.

std::atomic<bool> ROSController::service_enabled_

private

Definition at line 54 of file controller.h.

VelocityInterface ROSController::velocity_interface_

private

Definition at line 47 of file controller.h.

WrenchInterface ROSController::wrench_interface_

private

Definition at line 44 of file controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation