#include <seed_r7_robot_hardware.h>

Inheritance diagram for robot_hardware::RobotHW:

Classes
struct	RobotStatus

Public Member Functions
void	getBatteryVoltage (const ros::TimerEvent &_event)

double	getPeriod ()

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

void	onWheelServo (bool _value)

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

void	readPos (const ros::Time &time, const ros::Duration &period, bool update)

	RobotHW ()

void	runHandScript (uint8_t _number, uint16_t _script, uint8_t _current)

void	runLedScript (uint8_t _number, uint16_t _script)

void	setDiagnostics (diagnostic_updater::DiagnosticStatusWrapper &stat)

void	setRobotStatus ()

void	turnWheel (std::vector< int16_t > &_vel)

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

void	writeWheel (const std::vector< std::string > &_names, const std::vector< int16_t > &_vel, double _tm_sec)

virtual	~RobotHW ()

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 bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual SwitchState	switchResult () const

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)

Public Attributes
bool	comm_err_

struct robot_hardware::RobotHW::RobotStatus	robot_status_

Public Attributes inherited from hardware_interface::RobotHW
	DONE

	ERROR

	ONGOING

Protected Types
enum	ControlMethod { EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID }

enum	JointType { NONE, PRISMATIC, ROTATIONAL, CONTINUOUS, FIXED }

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 Attributes
int	BASE_COMMAND_PERIOD_MS_

ros::Publisher	bat_vol_pub_

ros::Timer	bat_vol_timer_

int	CONTROL_PERIOD_US_

boost::shared_ptr< robot_hardware::LowerController >	controller_lower_

boost::shared_ptr< robot_hardware::UpperController >	controller_upper_

pluginlib::ClassLoader< seed_converter::StrokeConverter >	converter_loader_

diagnostic_updater::Updater	diagnostic_updater_

bool	initialized_flag_

std::vector< ControlMethod >	joint_control_methods_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< std::string >	joint_list_

std::vector< std::string >	joint_names_lower_

std::vector< std::string >	joint_names_upper_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< JointType >	joint_types_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

hardware_interface::JointStateInterface	js_interface_

std::vector< int16_t >	lower_act_strokes_

std::mutex	mutex_lower_

std::mutex	mutex_upper_

unsigned int	number_of_angles_

float	OVERLAP_SCALE_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

std::vector< double >	prev_ref_strokes_

std::string	robot_model_plugin_

boost::shared_ptr< seed_converter::StrokeConverter >	stroke_converter_

std::vector< int16_t >	upper_act_strokes_

bool	upper_send_enable_

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_

Private Member Functions
bool	resetRobotStatusCallback (seed_r7_ros_controller::ResetRobotStatus::Request &_req, seed_r7_ros_controller::ResetRobotStatus::Response &_res)

Private Attributes
ros::ServiceServer	reset_robot_status_server_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState

Detailed Description

Definition at line 71 of file seed_r7_robot_hardware.h.

Member Enumeration Documentation

◆ ControlMethod

enum robot_hardware::RobotHW::ControlMethod

protected

Enumerator
EFFORT
POSITION
POSITION_PID
VELOCITY
VELOCITY_PID

Definition at line 115 of file seed_r7_robot_hardware.h.

◆ JointType

enum robot_hardware::RobotHW::JointType

protected

Enumerator
NONE
PRISMATIC
ROTATIONAL
CONTINUOUS
FIXED

Definition at line 116 of file seed_r7_robot_hardware.h.

Constructor & Destructor Documentation

◆ RobotHW()

robot_hardware::RobotHW::RobotHW ( )

inline

Definition at line 74 of file seed_r7_robot_hardware.h.

◆ ~RobotHW()

virtual robot_hardware::RobotHW::~RobotHW ( )

inlinevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 76 of file seed_r7_robot_hardware.h.

Member Function Documentation

◆ getBatteryVoltage()

void robot_hardware::RobotHW::getBatteryVoltage ( const ros::TimerEvent & _event )

Definition at line 377 of file seed_r7_robot_hardware.cpp.

◆ getPeriod()

double robot_hardware::RobotHW::getPeriod ( )

inline

Definition at line 85 of file seed_r7_robot_hardware.h.

◆ init()

bool robot_hardware::RobotHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 43 of file seed_r7_robot_hardware.cpp.

◆ onWheelServo()

void robot_hardware::RobotHW::onWheelServo ( bool _value )

Definition at line 370 of file seed_r7_robot_hardware.cpp.

◆ read()

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

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 257 of file seed_r7_robot_hardware.cpp.

◆ readPos()

void robot_hardware::RobotHW::readPos	(	const ros::Time &	time,
		const ros::Duration &	period,
		bool	update
	)

Definition at line 190 of file seed_r7_robot_hardware.cpp.

◆ resetRobotStatusCallback()

bool robot_hardware::RobotHW::resetRobotStatusCallback	(	seed_r7_ros_controller::ResetRobotStatus::Request &	_req,
		seed_r7_ros_controller::ResetRobotStatus::Response &	_res
	)

private

Definition at line 475 of file seed_r7_robot_hardware.cpp.

◆ runHandScript()

void robot_hardware::RobotHW::runHandScript	(	uint8_t	_number,
		uint16_t	_script,
		uint8_t	_current
	)

Definition at line 350 of file seed_r7_robot_hardware.cpp.

◆ runLedScript()

void robot_hardware::RobotHW::runLedScript	(	uint8_t	_number,
		uint16_t	_script
	)

Definition at line 388 of file seed_r7_robot_hardware.cpp.

◆ setDiagnostics()

void robot_hardware::RobotHW::setDiagnostics ( diagnostic_updater::DiagnosticStatusWrapper & stat )

Definition at line 427 of file seed_r7_robot_hardware.cpp.

◆ setRobotStatus()

void robot_hardware::RobotHW::setRobotStatus ( )

Definition at line 395 of file seed_r7_robot_hardware.cpp.

◆ turnWheel()

void robot_hardware::RobotHW::turnWheel ( std::vector< int16_t > & _vel )

Definition at line 363 of file seed_r7_robot_hardware.cpp.

◆ write()

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

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 262 of file seed_r7_robot_hardware.cpp.

◆ writeWheel()

void robot_hardware::RobotHW::writeWheel	(	const std::vector< std::string > &	_names,
		const std::vector< int16_t > &	_vel,
		double	_tm_sec
	)

Member Data Documentation

◆ BASE_COMMAND_PERIOD_MS_

int robot_hardware::RobotHW::BASE_COMMAND_PERIOD_MS_

protected

Definition at line 149 of file seed_r7_robot_hardware.h.

◆ bat_vol_pub_

ros::Publisher robot_hardware::RobotHW::bat_vol_pub_

protected

Definition at line 159 of file seed_r7_robot_hardware.h.

◆ bat_vol_timer_

ros::Timer robot_hardware::RobotHW::bat_vol_timer_

protected

Definition at line 158 of file seed_r7_robot_hardware.h.

◆ comm_err_

bool robot_hardware::RobotHW::comm_err_

Definition at line 97 of file seed_r7_robot_hardware.h.

◆ CONTROL_PERIOD_US_

int robot_hardware::RobotHW::CONTROL_PERIOD_US_

protected

Definition at line 147 of file seed_r7_robot_hardware.h.

◆ controller_lower_

boost::shared_ptr<robot_hardware::LowerController> robot_hardware::RobotHW::controller_lower_

protected

Definition at line 142 of file seed_r7_robot_hardware.h.

◆ controller_upper_

boost::shared_ptr<robot_hardware::UpperController> robot_hardware::RobotHW::controller_upper_

protected

Definition at line 141 of file seed_r7_robot_hardware.h.

◆ converter_loader_

pluginlib::ClassLoader<seed_converter::StrokeConverter> robot_hardware::RobotHW::converter_loader_

protected

Definition at line 161 of file seed_r7_robot_hardware.h.

◆ diagnostic_updater_

diagnostic_updater::Updater robot_hardware::RobotHW::diagnostic_updater_

protected

Definition at line 165 of file seed_r7_robot_hardware.h.

◆ initialized_flag_

bool robot_hardware::RobotHW::initialized_flag_

protected

Definition at line 144 of file seed_r7_robot_hardware.h.

◆ joint_control_methods_

std::vector<ControlMethod> robot_hardware::RobotHW::joint_control_methods_

protected

Definition at line 128 of file seed_r7_robot_hardware.h.

◆ joint_effort_

std::vector<double> robot_hardware::RobotHW::joint_effort_

protected

Definition at line 131 of file seed_r7_robot_hardware.h.

◆ joint_effort_command_

std::vector<double> robot_hardware::RobotHW::joint_effort_command_

protected

Definition at line 134 of file seed_r7_robot_hardware.h.

◆ joint_effort_limits_

std::vector<double> robot_hardware::RobotHW::joint_effort_limits_

protected

Definition at line 126 of file seed_r7_robot_hardware.h.

◆ joint_list_

std::vector<std::string> robot_hardware::RobotHW::joint_list_

protected

Definition at line 125 of file seed_r7_robot_hardware.h.

◆ joint_names_lower_

std::vector<std::string> robot_hardware::RobotHW::joint_names_lower_

protected

Definition at line 155 of file seed_r7_robot_hardware.h.

◆ joint_names_upper_

std::vector<std::string> robot_hardware::RobotHW::joint_names_upper_

protected

Definition at line 154 of file seed_r7_robot_hardware.h.

◆ joint_position_

std::vector<double> robot_hardware::RobotHW::joint_position_

protected

Definition at line 129 of file seed_r7_robot_hardware.h.

◆ joint_position_command_

std::vector<double> robot_hardware::RobotHW::joint_position_command_

protected

Definition at line 132 of file seed_r7_robot_hardware.h.

◆ joint_types_

std::vector<JointType> robot_hardware::RobotHW::joint_types_

protected

Definition at line 127 of file seed_r7_robot_hardware.h.

◆ joint_velocity_

std::vector<double> robot_hardware::RobotHW::joint_velocity_

protected

Definition at line 130 of file seed_r7_robot_hardware.h.

◆ joint_velocity_command_

std::vector<double> robot_hardware::RobotHW::joint_velocity_command_

protected

Definition at line 133 of file seed_r7_robot_hardware.h.

◆ js_interface_

hardware_interface::JointStateInterface robot_hardware::RobotHW::js_interface_

protected

Definition at line 120 of file seed_r7_robot_hardware.h.

◆ lower_act_strokes_

std::vector<int16_t> robot_hardware::RobotHW::lower_act_strokes_

protected

Definition at line 139 of file seed_r7_robot_hardware.h.

◆ mutex_lower_

std::mutex robot_hardware::RobotHW::mutex_lower_

protected

Definition at line 151 of file seed_r7_robot_hardware.h.

◆ mutex_upper_

std::mutex robot_hardware::RobotHW::mutex_upper_

protected

Definition at line 152 of file seed_r7_robot_hardware.h.

◆ number_of_angles_

unsigned int robot_hardware::RobotHW::number_of_angles_

protected

Definition at line 118 of file seed_r7_robot_hardware.h.

◆ OVERLAP_SCALE_

float robot_hardware::RobotHW::OVERLAP_SCALE_

protected

Definition at line 148 of file seed_r7_robot_hardware.h.

◆ pj_interface_

hardware_interface::PositionJointInterface robot_hardware::RobotHW::pj_interface_

protected

Definition at line 121 of file seed_r7_robot_hardware.h.

◆ pj_sat_interface_

joint_limits_interface::PositionJointSaturationInterface robot_hardware::RobotHW::pj_sat_interface_

protected

Definition at line 123 of file seed_r7_robot_hardware.h.

◆ prev_ref_strokes_

std::vector<double> robot_hardware::RobotHW::prev_ref_strokes_

protected

Definition at line 137 of file seed_r7_robot_hardware.h.

◆ reset_robot_status_server_

ros::ServiceServer robot_hardware::RobotHW::reset_robot_status_server_

private

Definition at line 110 of file seed_r7_robot_hardware.h.

◆ robot_model_plugin_

std::string robot_hardware::RobotHW::robot_model_plugin_

protected

Definition at line 156 of file seed_r7_robot_hardware.h.

◆ robot_status_

struct robot_hardware::RobotHW::RobotStatus robot_hardware::RobotHW::robot_status_

◆ stroke_converter_

boost::shared_ptr<seed_converter::StrokeConverter> robot_hardware::RobotHW::stroke_converter_

protected

Definition at line 162 of file seed_r7_robot_hardware.h.

◆ upper_act_strokes_

std::vector<int16_t> robot_hardware::RobotHW::upper_act_strokes_

protected

Definition at line 138 of file seed_r7_robot_hardware.h.

◆ upper_send_enable_

bool robot_hardware::RobotHW::upper_send_enable_

protected

Definition at line 145 of file seed_r7_robot_hardware.h.

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

Classes

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ ControlMethod

◆ JointType

Constructor & Destructor Documentation

◆ RobotHW()

◆ ~RobotHW()

Member Function Documentation

◆ getBatteryVoltage()

◆ getPeriod()

◆ init()

◆ onWheelServo()

◆ read()

◆ readPos()

◆ resetRobotStatusCallback()

◆ runHandScript()

◆ runLedScript()

◆ setDiagnostics()

◆ setRobotStatus()

◆ turnWheel()

◆ write()

◆ writeWheel()

Member Data Documentation

◆ BASE_COMMAND_PERIOD_MS_

◆ bat_vol_pub_

◆ bat_vol_timer_

◆ comm_err_

◆ CONTROL_PERIOD_US_

◆ controller_lower_

◆ controller_upper_

◆ converter_loader_

◆ diagnostic_updater_

◆ initialized_flag_

◆ joint_control_methods_

◆ joint_effort_

◆ joint_effort_command_

◆ joint_effort_limits_

◆ joint_list_

◆ joint_names_lower_

◆ joint_names_upper_

◆ joint_position_

◆ joint_position_command_

◆ joint_types_

◆ joint_velocity_

◆ joint_velocity_command_

◆ js_interface_

◆ lower_act_strokes_

◆ mutex_lower_

◆ mutex_upper_

◆ number_of_angles_

◆ OVERLAP_SCALE_

◆ pj_interface_

◆ pj_sat_interface_

◆ prev_ref_strokes_

◆ reset_robot_status_server_

◆ robot_model_plugin_

◆ robot_status_

◆ stroke_converter_

◆ upper_act_strokes_

◆ upper_send_enable_