The qbrobotics qbhand HardWare interface implements the specific structures to manage the communication with the qbhand device. More...

#include <qb_hand_hardware_interface.h>

Inheritance diagram for qb_hand_hardware_interface::qbHandHW:

[legend]

Public Member Functions
std::vector< std::string >	getJoints () override

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	Call the base method and nothing more. More...

	qbHandHW ()
	Initialize the `qb_device_hardware_interface::qbDeviceHW` with the specific transmission interface and actuator and joint names. More...

void	read (const ros::Time &time, const ros::Duration &period) override
	Call the base method and nothing more. More...

void	write (const ros::Time &time, const ros::Duration &period) override
	Call the base method and nothing more. More...

	~qbHandHW () override
	Do nothing. More...

Public Member Functions inherited from qb_device_hardware_interface::qbDeviceHW
int	getDeviceId ()

std::string	getDeviceNamespace ()

	qbDeviceHW (qb_device_transmission_interface::TransmissionPtr transmission, const std::vector< std::string > &actuators, const std::vector< std::string > &joints)

virtual	~qbDeviceHW ()

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)

Additional Inherited Members
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

Protected Member Functions inherited from qb_device_hardware_interface::qbDeviceHW
virtual int	activateMotors ()

virtual int	deactivateMotors ()

virtual std::string	getInfo ()

virtual int	getMeasurements (std::vector< double > &positions, std::vector< double > &currents, ros::Time &stamp)

virtual int	initializeDevice ()

virtual int	setCommands (const std::vector< double > &commands)

Protected Attributes inherited from qb_device_hardware_interface::qbDeviceHW
qb_device_hardware_interface::qbDeviceHWResources	actuators_

qb_device_hardware_interface::qbDeviceResources	device_

qb_device_msgs::Info	device_info_

qb_device_hardware_interface::qbDeviceHWInterfaces	interfaces_

qb_device_joint_limits_interface::qbDeviceJointLimitsResources	joint_limits_

qb_device_hardware_interface::qbDeviceHWResources	joints_

ros::NodeHandle	node_handle_

std::map< std::string, ros::ServiceClient >	services_

ros::AsyncSpinner	spinner_

ros::Publisher	state_publisher_

qb_device_transmission_interface::qbDeviceTransmissionResources	transmission_

urdf::Model	urdf_model_

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

The qbrobotics qbhand HardWare interface implements the specific structures to manage the communication with the qbhand device.

It exploits the features provided by the base device-independent hardware interface and the specific transmission interface.

See also: qb_device_hardware_interface::qbDeviceHW, qb_hand_transmission_interface::qbHandVirtualTransmission

Definition at line 45 of file qb_hand_hardware_interface.h.

Constructor & Destructor Documentation

qbHandHW::qbHandHW ( )

Initialize the qb_device_hardware_interface::qbDeviceHW with the specific transmission interface and actuator and joint names.

See also: qb_hand_transmission_interface::qbHandVirtualTransmission

Definition at line 32 of file qb_hand_hardware_interface.cpp.

qbHandHW::~qbHandHW ( )

override

Do nothing.

Definition at line 37 of file qb_hand_hardware_interface.cpp.

Member Function Documentation

std::vector< std::string > qbHandHW::getJoints ( )

overridevirtual

Returns: The vector of controller joint names.

Implements qb_device_hardware_interface::qbDeviceHW.

Definition at line 41 of file qb_hand_hardware_interface.cpp.

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

overridevirtual

Call the base method and nothing more.

Parameters

root_nh	A NodeHandle in the root of the caller namespace.
robot_hw_nh	A NodeHandle in the namespace from which the RobotHW should read its configuration.

Returns: true on success.

Reimplemented from qb_device_hardware_interface::qbDeviceHW.

Definition at line 45 of file qb_hand_hardware_interface.cpp.

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

overridevirtual

Call the base method and nothing more.

Parameters

time	The current time.
period	The time passed since the last call to this method, i.e. the control period.

Reimplemented from qb_device_hardware_interface::qbDeviceHW.

Definition at line 55 of file qb_hand_hardware_interface.cpp.

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

overridevirtual

Call the base method and nothing more.

Parameters

time	The current time.
period	The time passed since the last call to this method, i.e. the control period.

Reimplemented from qb_device_hardware_interface::qbDeviceHW.

Definition at line 60 of file qb_hand_hardware_interface.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation