pr2_mechanism_model::Robot Class Reference

This class provides the controllers with an interface to the robot model. More...

#include <robot.h>

Public Member Functions
pr2_hardware_interface::Actuator *	getActuator (const std::string &name) const
	get an actuator pointer based on the actuator name. Returns NULL on failure More...
ros::Time	getTime ()
	Get the time when the current controller cycle was started. More...
boost::shared_ptr< pr2_mechanism_model::Transmission >	getTransmission (const std::string &name) const
	get a transmission pointer based on the transmission name. Returns NULL on failure More...
int	getTransmissionIndex (const std::string &name) const
	get the transmission index based on the transmission name. Returns -1 on failure More...
bool	initXml (TiXmlElement *root)
	Initialize the robot model form xml. More...
	Robot (pr2_hardware_interface::HardwareInterface *hw)
	Constructor. More...
	~Robot ()
	Destructor. More...

Public Attributes
pr2_hardware_interface::HardwareInterface *	hw_
	a pointer to the pr2 hardware interface. Only for advanced users More...
urdf::Model	robot_model_
	The kinematic/dynamic model of the robot. More...
std::vector< boost::shared_ptr< Transmission > >	transmissions_
	The list of transmissions. More...

Private Attributes
boost::shared_ptr< pluginlib::ClassLoader< pr2_mechanism_model::Transmission > >	transmission_loader_

Detailed Description

This class provides the controllers with an interface to the robot model.

Most controllers that need the robot model should use the 'robot_model_', which is a kinematic/dynamic model of the robot, represented by a KDL Tree structure.

Some specialized controllers (such as the calibration controllers) can get access to actuators, transmissions and special joint parameters.

Definition at line 78 of file robot.h.

Constructor & Destructor Documentation

Robot::Robot

(

pr2_hardware_interface::HardwareInterface *

hw

)

Constructor.

Definition at line 46 of file robot.cpp.

pr2_mechanism_model::Robot::~Robot ( )

inline

Destructor.

Definition at line 85 of file robot.h.

Member Function Documentation

Actuator * Robot::getActuator

(

const std::string &

name

)

const

get an actuator pointer based on the actuator name. Returns NULL on failure

Definition at line 134 of file robot.cpp.

ros::Time Robot::getTime

(

)

Get the time when the current controller cycle was started.

Definition at line 112 of file robot.cpp.

boost::shared_ptr< Transmission > Robot::getTransmission

(

const std::string &

name

)

const

get a transmission pointer based on the transmission name. Returns NULL on failure

Definition at line 139 of file robot.cpp.

int Robot::getTransmissionIndex

(

const std::string &

name

)

const

get the transmission index based on the transmission name. Returns -1 on failure

Definition at line 129 of file robot.cpp.

bool Robot::initXml

(

TiXmlElement *

root

)

Initialize the robot model form xml.

Definition at line 51 of file robot.cpp.

Member Data Documentation

pr2_hardware_interface::HardwareInterface* pr2_mechanism_model::Robot::hw_

a pointer to the pr2 hardware interface. Only for advanced users

Definition at line 109 of file robot.h.

urdf::Model pr2_mechanism_model::Robot::robot_model_

The kinematic/dynamic model of the robot.

Definition at line 91 of file robot.h.

boost::shared_ptr<pluginlib::ClassLoader<pr2_mechanism_model::Transmission> > pr2_mechanism_model::Robot::transmission_loader_

private

Definition at line 112 of file robot.h.

std::vector<boost::shared_ptr<Transmission> > pr2_mechanism_model::Robot::transmissions_

The list of transmissions.

Definition at line 94 of file robot.h.

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

• robot.h
• robot.cpp