ros_controllers_cartesian::CartesianStateHandle Class Reference

A state handle for Cartesian hardware interfaces. More...

#include <cartesian_state_handle.h>

Inheritance diagram for ros_controllers_cartesian::CartesianStateHandle:

Public Member Functions
	CartesianStateHandle ()=default
	CartesianStateHandle (const std::string &ref_frame_id, const std::string &frame_id, const geometry_msgs::Pose *pose, const geometry_msgs::Twist *twist, const geometry_msgs::Accel *accel, const geometry_msgs::Accel *jerk)
geometry_msgs::Accel	getAccel () const
geometry_msgs::Accel	getJerk () const
std::string	getName () const
geometry_msgs::Pose	getPose () const
geometry_msgs::Twist	getTwist () const
virtual	~CartesianStateHandle ()=default

Private Attributes
const geometry_msgs::Accel *	accel_
std::string	frame_id_
const geometry_msgs::Accel *	jerk_
const geometry_msgs::Pose *	pose_
std::string	ref_frame_id_
const geometry_msgs::Twist *	twist_

Detailed Description

A state handle for Cartesian hardware interfaces.

Cartesian ROS-controllers can use this handle to read the current Cartesian state from the Cartesian HW-interface and use that in their control loops. The functionality is analog to how the joint-based handles work: Implementers of the hardware_interface::RobotHW class provide a set of buffers to this handle upon instantiation and register this handle with an instance of the according CartesianStateInterface.

Definition at line 48 of file cartesian_state_handle.h.

Constructor & Destructor Documentation

CartesianStateHandle() [1/2]

ros_controllers_cartesian::CartesianStateHandle::CartesianStateHandle ( )

default

CartesianStateHandle() [2/2]

ros_controllers_cartesian::CartesianStateHandle::CartesianStateHandle ( const std::string &  ref_frame_id, const std::string &  frame_id, const geometry_msgs::Pose *  pose, const geometry_msgs::Twist *  twist, const geometry_msgs::Accel *  accel, const geometry_msgs::Accel *  jerk  )

inline

Definition at line 52 of file cartesian_state_handle.h.

~CartesianStateHandle()

virtual ros_controllers_cartesian::CartesianStateHandle::~CartesianStateHandle ( )

virtualdefault

Member Function Documentation

getAccel()

geometry_msgs::Accel ros_controllers_cartesian::CartesianStateHandle::getAccel ( ) const

inline

Definition at line 94 of file cartesian_state_handle.h.

getJerk()

geometry_msgs::Accel ros_controllers_cartesian::CartesianStateHandle::getJerk ( ) const

inline

Definition at line 99 of file cartesian_state_handle.h.

getName()

std::string ros_controllers_cartesian::CartesianStateHandle::getName ( ) const

inline

Definition at line 80 of file cartesian_state_handle.h.

getPose()

geometry_msgs::Pose ros_controllers_cartesian::CartesianStateHandle::getPose ( ) const

inline

Definition at line 84 of file cartesian_state_handle.h.

getTwist()

geometry_msgs::Twist ros_controllers_cartesian::CartesianStateHandle::getTwist ( ) const

inline

Definition at line 89 of file cartesian_state_handle.h.

Member Data Documentation

accel_

const geometry_msgs::Accel* ros_controllers_cartesian::CartesianStateHandle::accel_

private

Definition at line 110 of file cartesian_state_handle.h.

frame_id_

std::string ros_controllers_cartesian::CartesianStateHandle::frame_id_

private

Definition at line 106 of file cartesian_state_handle.h.

jerk_

const geometry_msgs::Accel* ros_controllers_cartesian::CartesianStateHandle::jerk_

private

Definition at line 111 of file cartesian_state_handle.h.

pose_

const geometry_msgs::Pose* ros_controllers_cartesian::CartesianStateHandle::pose_

private

Definition at line 108 of file cartesian_state_handle.h.

ref_frame_id_

std::string ros_controllers_cartesian::CartesianStateHandle::ref_frame_id_

private

Definition at line 107 of file cartesian_state_handle.h.

twist_

const geometry_msgs::Twist* ros_controllers_cartesian::CartesianStateHandle::twist_

private

Definition at line 109 of file cartesian_state_handle.h.

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

• cartesian_state_handle.h