force_torque_sensor_controller::ForceTorqueSensorController Class Reference

#include <force_torque_sensor_controller.h>

Inheritance diagram for force_torque_sensor_controller::ForceTorqueSensorController:

Public Member Functions
	ForceTorqueSensorController ()
virtual bool	init (hardware_interface::ForceTorqueSensorInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	update (const ros::Time &time, const ros::Duration &)
Public Member Functions inherited from controller_interface::Controller< hardware_interface::ForceTorqueSensorInterface >
	Controller ()
virtual bool	init (hardware_interface::ForceTorqueSensorInterface *, ros::NodeHandle &)
virtual	~Controller ()
Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()
bool	isRunning ()
bool	isRunning ()
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual	~ControllerBase ()

Private Types
typedef boost::shared_ptr< realtime_tools::RealtimePublisher< geometry_msgs::WrenchStamped > >	RtPublisherPtr

Private Attributes
std::vector< ros::Time >	last_publish_times_
double	publish_rate_
std::vector< RtPublisherPtr >	realtime_pubs_
std::vector< hardware_interface::ForceTorqueSensorHandle >	sensors_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_
Protected Member Functions inherited from controller_interface::Controller< hardware_interface::ForceTorqueSensorInterface >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

Definition at line 45 of file force_torque_sensor_controller.h.

Member Typedef Documentation

typedef boost::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> > force_torque_sensor_controller::ForceTorqueSensorController::RtPublisherPtr

private

Definition at line 57 of file force_torque_sensor_controller.h.

Constructor & Destructor Documentation

force_torque_sensor_controller::ForceTorqueSensorController::ForceTorqueSensorController ( )

inline

Definition at line 48 of file force_torque_sensor_controller.h.

Member Function Documentation

bool force_torque_sensor_controller::ForceTorqueSensorController::init ( hardware_interface::ForceTorqueSensorInterface *  hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

virtual

Reimplemented from controller_interface::Controller< hardware_interface::ForceTorqueSensorInterface >.

Definition at line 39 of file force_torque_sensor_controller.cpp.

void force_torque_sensor_controller::ForceTorqueSensorController::starting ( const ros::Time &  time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 66 of file force_torque_sensor_controller.cpp.

void force_torque_sensor_controller::ForceTorqueSensorController::stopping ( const ros::Time &  )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 101 of file force_torque_sensor_controller.cpp.

void force_torque_sensor_controller::ForceTorqueSensorController::update ( const ros::Time &  time, const ros::Duration &    )

virtual

Implements controller_interface::ControllerBase.

Definition at line 74 of file force_torque_sensor_controller.cpp.

Member Data Documentation

std::vector<ros::Time> force_torque_sensor_controller::ForceTorqueSensorController::last_publish_times_

private

Definition at line 59 of file force_torque_sensor_controller.h.

double force_torque_sensor_controller::ForceTorqueSensorController::publish_rate_

private

Definition at line 60 of file force_torque_sensor_controller.h.

std::vector<RtPublisherPtr> force_torque_sensor_controller::ForceTorqueSensorController::realtime_pubs_

private

Definition at line 58 of file force_torque_sensor_controller.h.

std::vector<hardware_interface::ForceTorqueSensorHandle> force_torque_sensor_controller::ForceTorqueSensorController::sensors_

private

Definition at line 56 of file force_torque_sensor_controller.h.

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

• force_torque_sensor_controller.h
• force_torque_sensor_controller.cpp