#include <xarm_hw.h>

Inheritance diagram for xarm_control::XArmHW:

Public Member Functions
void	get_status (int state_mode_err[3])

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

bool	need_reset ()

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

	XArmHW ()

	~XArmHW ()

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	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 Types
enum	ControlMethod { POSITION, VELOCITY, EFFORT }

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

Private Member Functions
void	_enforce_limits (const ros::Duration &period)

void	_register_joint_limits (ros::NodeHandle &root_nh, std::string joint_name, const ControlMethod ctrl_method)

void	_reset_limits (void)

void	clientInit (const std::string &robot_ip, ros::NodeHandle &root_nh)

void	pos_fb_cb (const sensor_msgs::JointState::ConstPtr &data)

void	state_fb_cb (const xarm_msgs::RobotMsg::ConstPtr &data)

Private Attributes
ControlMethod	ctrl_method_

int	curr_err

int	curr_mode

int	curr_state

unsigned int	dof_

std::vector< double >	effort_cmd_

std::vector< double >	effort_fdb_

ros::Subscriber	effort_sub_

hardware_interface::EffortJointInterface	ej_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_

joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_

std::string	hw_ns_

bool	initial_write_

std::vector< std::string >	jnt_names_

hardware_interface::JointStateInterface	js_interface_

urdf::ModelInterfaceSharedPtr	model_ptr_

std::mutex	mutex_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

ros::Subscriber	pos_sub_

std::vector< double >	position_cmd_

std::vector< float >	position_cmd_float_

std::vector< double >	position_fdb_

ros::Subscriber	state_sub_

ros::Subscriber	vel_sub_

std::vector< double >	velocity_cmd_

std::vector< float >	velocity_cmd_float_

std::vector< double >	velocity_fdb_

hardware_interface::VelocityJointInterface	vj_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_

joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_

xarm_api::XArmROSClient	xarm

Additional Inherited Members
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_

Detailed Description

Definition at line 40 of file xarm_hw.h.

Member Enumeration Documentation

enum xarm_control::XArmHW::ControlMethod

protected

Enumerator
POSITION
VELOCITY
EFFORT

Definition at line 61 of file xarm_hw.h.

Constructor & Destructor Documentation

xarm_control::XArmHW::XArmHW ( )

inline

Definition at line 43 of file xarm_hw.h.

xarm_control::XArmHW::~XArmHW ( )

Definition at line 195 of file xarm_hw.cpp.

Member Function Documentation

void xarm_control::XArmHW::_enforce_limits ( const ros::Duration & period )

private

Definition at line 224 of file xarm_hw.cpp.

void xarm_control::XArmHW::_register_joint_limits	(	ros::NodeHandle &	root_nh,
		std::string	joint_name,
		const ControlMethod	ctrl_method
	)

private

Definition at line 12 of file xarm_hw.cpp.

void xarm_control::XArmHW::_reset_limits ( void )

private

Definition at line 218 of file xarm_hw.cpp.

void xarm_control::XArmHW::clientInit	(	const std::string &	robot_ip,
		ros::NodeHandle &	root_nh
	)

private

Definition at line 68 of file xarm_hw.cpp.

void xarm_control::XArmHW::get_status ( int state_mode_err[3] )

Definition at line 314 of file xarm_hw.cpp.

bool xarm_control::XArmHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 142 of file xarm_hw.cpp.

bool xarm_control::XArmHW::need_reset ( )

Definition at line 321 of file xarm_hw.cpp.

void xarm_control::XArmHW::pos_fb_cb ( const sensor_msgs::JointState::ConstPtr & data )

private

Definition at line 200 of file xarm_hw.cpp.

void xarm_control::XArmHW::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 250 of file xarm_hw.cpp.

void xarm_control::XArmHW::state_fb_cb ( const xarm_msgs::RobotMsg::ConstPtr & data )

private

Definition at line 211 of file xarm_hw.cpp.

void xarm_control::XArmHW::write	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 255 of file xarm_hw.cpp.

Member Data Documentation

ControlMethod xarm_control::XArmHW::ctrl_method_

private

Definition at line 87 of file xarm_hw.h.

int xarm_control::XArmHW::curr_err

private

Definition at line 66 of file xarm_hw.h.

int xarm_control::XArmHW::curr_mode

private

Definition at line 65 of file xarm_hw.h.

int xarm_control::XArmHW::curr_state

private

Definition at line 64 of file xarm_hw.h.

unsigned int xarm_control::XArmHW::dof_

private

Definition at line 68 of file xarm_hw.h.

std::vector<double> xarm_control::XArmHW::effort_cmd_

private

Definition at line 74 of file xarm_hw.h.

std::vector<double> xarm_control::XArmHW::effort_fdb_

private

Definition at line 78 of file xarm_hw.h.

ros::Subscriber xarm_control::XArmHW::effort_sub_

private

Definition at line 101 of file xarm_hw.h.

hardware_interface::EffortJointInterface xarm_control::XArmHW::ej_interface_

private

Definition at line 90 of file xarm_hw.h.

joint_limits_interface::EffortJointSoftLimitsInterface xarm_control::XArmHW::ej_limits_interface_

private

Definition at line 95 of file xarm_hw.h.

joint_limits_interface::EffortJointSaturationInterface xarm_control::XArmHW::ej_sat_interface_

private

Definition at line 94 of file xarm_hw.h.

std::string xarm_control::XArmHW::hw_ns_

private

Definition at line 82 of file xarm_hw.h.

bool xarm_control::XArmHW::initial_write_

private

Definition at line 80 of file xarm_hw.h.

std::vector<std::string> xarm_control::XArmHW::jnt_names_

private

Definition at line 69 of file xarm_hw.h.

hardware_interface::JointStateInterface xarm_control::XArmHW::js_interface_

private

Definition at line 89 of file xarm_hw.h.

urdf::ModelInterfaceSharedPtr xarm_control::XArmHW::model_ptr_

private

Definition at line 86 of file xarm_hw.h.

std::mutex xarm_control::XArmHW::mutex_

private

Definition at line 81 of file xarm_hw.h.

hardware_interface::PositionJointInterface xarm_control::XArmHW::pj_interface_

private

Definition at line 91 of file xarm_hw.h.

joint_limits_interface::PositionJointSoftLimitsInterface xarm_control::XArmHW::pj_limits_interface_

private

Definition at line 97 of file xarm_hw.h.

joint_limits_interface::PositionJointSaturationInterface xarm_control::XArmHW::pj_sat_interface_

private

Definition at line 96 of file xarm_hw.h.

ros::Subscriber xarm_control::XArmHW::pos_sub_

private

Definition at line 101 of file xarm_hw.h.

std::vector<double> xarm_control::XArmHW::position_cmd_

private

Definition at line 70 of file xarm_hw.h.

std::vector<float> xarm_control::XArmHW::position_cmd_float_

private

Definition at line 71 of file xarm_hw.h.

std::vector<double> xarm_control::XArmHW::position_fdb_

private

Definition at line 76 of file xarm_hw.h.

ros::Subscriber xarm_control::XArmHW::state_sub_

private

Definition at line 101 of file xarm_hw.h.

ros::Subscriber xarm_control::XArmHW::vel_sub_

private

Definition at line 101 of file xarm_hw.h.

std::vector<double> xarm_control::XArmHW::velocity_cmd_

private

Definition at line 72 of file xarm_hw.h.

std::vector<float> xarm_control::XArmHW::velocity_cmd_float_

private

Definition at line 73 of file xarm_hw.h.

std::vector<double> xarm_control::XArmHW::velocity_fdb_

private

Definition at line 77 of file xarm_hw.h.

hardware_interface::VelocityJointInterface xarm_control::XArmHW::vj_interface_

private

Definition at line 92 of file xarm_hw.h.

joint_limits_interface::VelocityJointSoftLimitsInterface xarm_control::XArmHW::vj_limits_interface_

private

Definition at line 99 of file xarm_hw.h.

joint_limits_interface::VelocityJointSaturationInterface xarm_control::XArmHW::vj_sat_interface_

private

Definition at line 98 of file xarm_hw.h.

xarm_api::XArmROSClient xarm_control::XArmHW::xarm

private

Definition at line 84 of file xarm_hw.h.

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

Public Member Functions

Protected Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation