moveit_sim_controller::MoveItSimHWInterface Class Reference

#include <moveit_sim_hw_interface.h>

Inheritance diagram for moveit_sim_controller::MoveItSimHWInterface:

Public Member Functions
void	init ()
	Initialize the robot hardware interface. More...
void	loadDefaultJointValues ()
	MoveItSimHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor. More...
Public Member Functions inherited from ros_control_boilerplate::SimHWInterface
virtual void	enforceLimits (ros::Duration &period)
virtual void	read (ros::Duration &elapsed_time)
	SimHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
virtual void	write (ros::Duration &elapsed_time)
Public Member Functions inherited from ros_control_boilerplate::GenericHWInterface
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
	GenericHWInterface (const ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
std::string	printCommandHelper ()
virtual void	printState ()
std::string	printStateHelper ()
virtual void	read (const ros::Time &, const ros::Duration &period) override
virtual void	registerJointLimits (const hardware_interface::JointHandle &joint_handle_position, const hardware_interface::JointHandle &joint_handle_velocity, const hardware_interface::JointHandle &joint_handle_effort, std::size_t joint_id)
virtual void	reset ()
virtual void	write (const ros::Time &, const ros::Duration &period) override
virtual	~GenericHWInterface ()
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 bool	init (ros::NodeHandle &, ros::NodeHandle &)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual SwitchState	switchResult (const ControllerInfo &) const
virtual SwitchState	switchResult () const
virtual	~RobotHW ()=default
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)

Private Attributes
std::string	joint_model_group_
std::string	joint_model_group_pose_
std::string	name_
robot_model_loader::RobotModelLoaderPtr	robot_model_loader_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState
Public Attributes inherited from hardware_interface::RobotHW
	DONE
	ERROR
	ONGOING
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 ros_control_boilerplate::SimHWInterface
virtual void	positionControlSimulation (ros::Duration &elapsed_time, const std::size_t joint_id)
Protected Member Functions inherited from ros_control_boilerplate::GenericHWInterface
virtual void	loadURDF (const ros::NodeHandle &nh, std::string param_name)
Protected Attributes inherited from ros_control_boilerplate::SimHWInterface
std::vector< double >	joint_position_prev_
std::string	name_
double	p_error_
int	sim_control_mode_
double	v_error_
Protected Attributes inherited from ros_control_boilerplate::GenericHWInterface
joint_limits_interface::EffortJointSaturationInterface	eff_jnt_sat_interface_
joint_limits_interface::EffortJointSoftLimitsInterface	eff_jnt_soft_limits_
hardware_interface::EffortJointInterface	effort_joint_interface_
std::vector< double >	joint_effort_
std::vector< double >	joint_effort_command_
std::vector< double >	joint_effort_limits_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
std::vector< double >	joint_position_lower_limits_
std::vector< double >	joint_position_upper_limits_
hardware_interface::JointStateInterface	joint_state_interface_
std::vector< double >	joint_velocity_
std::vector< double >	joint_velocity_command_
std::vector< double >	joint_velocity_limits_
std::string	name_
ros::NodeHandle	nh_
std::size_t	num_joints_
joint_limits_interface::PositionJointSaturationInterface	pos_jnt_sat_interface_
joint_limits_interface::PositionJointSoftLimitsInterface	pos_jnt_soft_limits_
hardware_interface::PositionJointInterface	position_joint_interface_
urdf::Model *	urdf_model_
bool	use_rosparam_joint_limits_
bool	use_soft_limits_if_available_
joint_limits_interface::VelocityJointSaturationInterface	vel_jnt_sat_interface_
joint_limits_interface::VelocityJointSoftLimitsInterface	vel_jnt_soft_limits_
hardware_interface::VelocityJointInterface	velocity_joint_interface_
Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase *>	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_

Detailed Description

Definition at line 55 of file moveit_sim_hw_interface.h.

Constructor & Destructor Documentation

MoveItSimHWInterface()

moveit_sim_controller::MoveItSimHWInterface::MoveItSimHWInterface ( ros::NodeHandle &  nh, urdf::Model *  urdf_model = NULL  )

explicit

Constructor.

Definition at line 46 of file moveit_sim_hw_interface.cpp.

Member Function Documentation

init()

void moveit_sim_controller::MoveItSimHWInterface::init ( )

virtual

Initialize the robot hardware interface.

Reimplemented from ros_control_boilerplate::SimHWInterface.

Definition at line 57 of file moveit_sim_hw_interface.cpp.

loadDefaultJointValues()

void moveit_sim_controller::MoveItSimHWInterface::loadDefaultJointValues

(

)

Definition at line 71 of file moveit_sim_hw_interface.cpp.

Member Data Documentation

joint_model_group_

std::string moveit_sim_controller::MoveItSimHWInterface::joint_model_group_

private

Definition at line 71 of file moveit_sim_hw_interface.h.

joint_model_group_pose_

std::string moveit_sim_controller::MoveItSimHWInterface::joint_model_group_pose_

private

Definition at line 72 of file moveit_sim_hw_interface.h.

name_

std::string moveit_sim_controller::MoveItSimHWInterface::name_

private

Definition at line 69 of file moveit_sim_hw_interface.h.

robot_model_loader_

robot_model_loader::RobotModelLoaderPtr moveit_sim_controller::MoveItSimHWInterface::robot_model_loader_

private

Definition at line 76 of file moveit_sim_hw_interface.h.

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

• moveit_sim_hw_interface.h
• moveit_sim_hw_interface.cpp