#include <transmission_interface_loader.h>
Classes | |
struct | TransmissionHandleData |
Public Member Functions | |
bool | loadTransmissionMaps (const TransmissionInfo &transmission_info, TransmissionLoaderData &loader_data, TransmissionSharedPtr transmission) |
virtual bool | updateJointInterfaces (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map)=0 |
Update a robot's joint interfaces with joint information contained in a transmission. More... | |
virtual | ~RequisiteProvider ()=default |
Protected Member Functions | |
virtual bool | getActuatorCommandData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_cmd_data)=0 |
template<class HardwareInterface , class Handle > | |
bool | getActuatorHandles (const std::vector< ActuatorInfo > &actuators_info, hardware_interface::RobotHW *robot_hw, std::vector< Handle > &handles) |
virtual bool | getActuatorStateData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data)=0 |
virtual bool | getJointCommandData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_cmd_data)=0 |
virtual bool | getJointStateData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data)=0 |
virtual bool | registerTransmission (TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data)=0 |
Static Protected Member Functions | |
template<class Interface > | |
static bool | hasResource (const std::string &name, const Interface &iface) |
Definition at line 128 of file transmission_interface_loader.h.
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virtualdefault |
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protectedpure virtual |
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inlineprotected |
Definition at line 207 of file transmission_interface_loader.h.
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protectedpure virtual |
Implemented in transmission_interface::JointStateInterfaceProvider.
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protectedpure virtual |
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protectedpure virtual |
Implemented in transmission_interface::JointStateInterfaceProvider.
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inlinestaticprotected |
Definition at line 186 of file transmission_interface_loader.h.
bool transmission_interface::RequisiteProvider::loadTransmissionMaps | ( | const TransmissionInfo & | transmission_info, |
TransmissionLoaderData & | loader_data, | ||
TransmissionSharedPtr | transmission | ||
) |
Definition at line 40 of file transmission_interface_loader.cpp.
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protectedpure virtual |
Implemented in transmission_interface::JointStateInterfaceProvider, transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, transmission_interface::VelocityJointInterfaceProvider, transmission_interface::BiDirectionalEffortJointInterfaceProvider, transmission_interface::BiDirectionalPositionJointInterfaceProvider, and transmission_interface::BiDirectionalVelocityJointInterfaceProvider.
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pure virtual |
Update a robot's joint interfaces with joint information contained in a transmission.
[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. |
Implemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, transmission_interface::VelocityJointInterfaceProvider, and transmission_interface::JointStateInterfaceProvider.