transmission_interface::JointStateInterfaceProvider Class Reference

#include <joint_state_interface_provider.h>

Inheritance diagram for transmission_interface::JointStateInterfaceProvider:

Public Member Functions
bool	updateJointInterfaces (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map) override
	Update a robot's joint interfaces with joint information contained in a transmission. More...
Public Member Functions inherited from transmission_interface::RequisiteProvider
bool	loadTransmissionMaps (const TransmissionInfo &transmission_info, TransmissionLoaderData &loader_data, TransmissionSharedPtr transmission)
virtual	~RequisiteProvider ()=default

Protected Member Functions
bool	getActuatorCommandData (const TransmissionInfo &, hardware_interface::RobotHW *, ActuatorData &) override
bool	getActuatorStateData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data) override
bool	getJointCommandData (const TransmissionInfo &, const RawJointDataMap &, JointData &) override
bool	getJointStateData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data) override
bool	registerTransmission (TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data) override
Protected Member Functions inherited from transmission_interface::RequisiteProvider
template<class HardwareInterface , class Handle >
bool	getActuatorHandles (const std::vector< ActuatorInfo > &actuators_info, hardware_interface::RobotHW *robot_hw, std::vector< Handle > &handles)

Additional Inherited Members
Static Protected Member Functions inherited from transmission_interface::RequisiteProvider
template<class Interface >
static bool	hasResource (const std::string &name, const Interface &iface)

Detailed Description

Definition at line 40 of file joint_state_interface_provider.h.

Member Function Documentation

getActuatorCommandData()

bool transmission_interface::JointStateInterfaceProvider::getActuatorCommandData ( const TransmissionInfo &  , hardware_interface::RobotHW *  , ActuatorData &    )

inlineoverrideprotectedvirtual

Implements transmission_interface::RequisiteProvider.

Reimplemented in transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

Definition at line 61 of file joint_state_interface_provider.h.

getActuatorStateData()

bool transmission_interface::JointStateInterfaceProvider::getActuatorStateData ( const TransmissionInfo &  transmission_info, hardware_interface::RobotHW *  robot_hw, ActuatorData &  act_state_data  )

overrideprotectedvirtual

Implements transmission_interface::RequisiteProvider.

Definition at line 160 of file joint_state_interface_provider.cpp.

getJointCommandData()

bool transmission_interface::JointStateInterfaceProvider::getJointCommandData ( const TransmissionInfo &  , const RawJointDataMap &  , JointData &    )

inlineoverrideprotectedvirtual

Implements transmission_interface::RequisiteProvider.

Reimplemented in transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

Definition at line 53 of file joint_state_interface_provider.h.

getJointStateData()

bool transmission_interface::JointStateInterfaceProvider::getJointStateData ( const TransmissionInfo &  transmission_info, const RawJointDataMap &  raw_joint_data_map, JointData &  jnt_state_data  )

overrideprotectedvirtual

Implements transmission_interface::RequisiteProvider.

Definition at line 103 of file joint_state_interface_provider.cpp.

registerTransmission()

bool transmission_interface::JointStateInterfaceProvider::registerTransmission ( TransmissionLoaderData &  loader_data, TransmissionHandleData &  handle_data  )

overrideprotectedvirtual

Implements transmission_interface::RequisiteProvider.

Reimplemented in transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

Definition at line 216 of file joint_state_interface_provider.cpp.

updateJointInterfaces()

bool transmission_interface::JointStateInterfaceProvider::updateJointInterfaces ( const TransmissionInfo &  transmission_info, hardware_interface::RobotHW *  robot_hw, JointInterfaces &  joint_interfaces, RawJointDataMap &  raw_joint_data_map  )

overridevirtual

Update a robot's joint interfaces with joint information contained in a transmission.

Parameters

[in]	transmission_info	Structure containing information of which joints to add. Only new, non-previously registered joints will be added.
[out]	joint_ifaces	Joint interfaces where new joints will be added. It may already contain data, which will not be overwritten; only new joints will be added.
	raw_joint_data_map[out]	Structure where the raw data of new joints will reside. It may already contain data, which will not be overwritten; only new data will be added.

Returns

true if successful.

Implements transmission_interface::RequisiteProvider.

Reimplemented in transmission_interface::PositionJointInterfaceProvider, and transmission_interface::VelocityJointInterfaceProvider.

Definition at line 38 of file joint_state_interface_provider.cpp.

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

• joint_state_interface_provider.h
• joint_state_interface_provider.cpp