#include <franka_combined_hw.h>

Inheritance diagram for franka_hw::FrankaCombinedHW:

[legend]

Public Member Functions
void	connect ()
	Calls connect on all hardware classes that are of type `FrankaCombinableHW`. More...

bool	controllerNeedsReset ()
	Checks whether the controller needs to be reset. More...

bool	disconnect ()
	Tries to disconnect on all hardware classes that are of type `FrankaCombinableHW`. More...

	FrankaCombinedHW ()
	Creates an instance of CombinedFrankaHW. More...

bool	hasError ()
	Checks whether the robots are in error or reflex mode. More...

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	The init function is called to initialize the CombinedFrankaHW from a non-realtime thread. More...

void	read (const ros::Time &time, const ros::Duration &period) override
	Reads data from the robot HW. More...

	~FrankaCombinedHW () override=default

Public Member Functions inherited from combined_robot_hw::CombinedRobotHW
void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) override

bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) override

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

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 SwitchState	switchResult () const

virtual SwitchState	switchResult (const ControllerInfo &) 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)

Protected Attributes
std::unique_ptr< actionlib::SimpleActionServer< franka_msgs::ErrorRecoveryAction > >	combined_recovery_action_server_

ros::ServiceServer	connect_server_

ros::ServiceServer	disconnect_server_

Protected Attributes inherited from combined_robot_hw::CombinedRobotHW
std::vector< hardware_interface::RobotHWSharedPtr >	robot_hw_list_

pluginlib::ClassLoader< hardware_interface::RobotHW >	robot_hw_loader_

ros::NodeHandle	robot_hw_nh_

ros::NodeHandle	root_nh_

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
void	handleError ()

void	triggerError ()

Private Attributes
bool	is_recovering_ {false}

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR }

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 combined_robot_hw::CombinedRobotHW
void	filterControllerList (const std::list< hardware_interface::ControllerInfo > &list, std::list< hardware_interface::ControllerInfo > &filtered_list, hardware_interface::RobotHWSharedPtr robot_hw)

virtual bool	loadRobotHW (const std::string &name)

Detailed Description

Definition at line 17 of file franka_combined_hw.h.

Constructor & Destructor Documentation

◆ FrankaCombinedHW()

franka_hw::FrankaCombinedHW::FrankaCombinedHW ( )

default

Creates an instance of CombinedFrankaHW.

◆ ~FrankaCombinedHW()

franka_hw::FrankaCombinedHW::~FrankaCombinedHW ( )

overridedefault

Member Function Documentation

◆ connect()

void franka_hw::FrankaCombinedHW::connect ( )

Calls connect on all hardware classes that are of type FrankaCombinableHW.

Definition at line 150 of file franka_combined_hw.cpp.

◆ controllerNeedsReset()

bool franka_hw::FrankaCombinedHW::controllerNeedsReset ( )

Checks whether the controller needs to be reset.

Returns: True if the controllers needs to be reset, false otherwise.

Definition at line 102 of file franka_combined_hw.cpp.

◆ disconnect()

bool franka_hw::FrankaCombinedHW::disconnect ( )

Tries to disconnect on all hardware classes that are of type FrankaCombinableHW.

Returns: true if successful, false otherwise.

Definition at line 159 of file franka_combined_hw.cpp.

◆ handleError()

void franka_hw::FrankaCombinedHW::handleError ( )

private

Definition at line 117 of file franka_combined_hw.cpp.

◆ hasError()

bool franka_hw::FrankaCombinedHW::hasError ( )

Checks whether the robots are in error or reflex mode.

Returns: true if in error state, false otherwise.

Definition at line 124 of file franka_combined_hw.cpp.

◆ init()

bool franka_hw::FrankaCombinedHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

overridevirtual

The init function is called to initialize the CombinedFrankaHW from a non-realtime thread.

Parameters

[in]	root_nh	A NodeHandle in the root of the caller namespace.
[in]	robot_hw_nh	A NodeHandle in the namespace from which the RobotHW. should read its configuration.

Returns: True if initialization was successful.

Reimplemented from combined_robot_hw::CombinedRobotHW.

Definition at line 21 of file franka_combined_hw.cpp.

◆ read()

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

overridevirtual

Reads data from the robot HW.

Parameters

[in]	time	The current time.
[in]	period	The time passed since the last call to read.

Reimplemented from combined_robot_hw::CombinedRobotHW.

Definition at line 96 of file franka_combined_hw.cpp.

◆ triggerError()

void franka_hw::FrankaCombinedHW::triggerError ( )

private

Definition at line 138 of file franka_combined_hw.cpp.

Member Data Documentation

◆ combined_recovery_action_server_

std::unique_ptr<actionlib::SimpleActionServer<franka_msgs::ErrorRecoveryAction> > franka_hw::FrankaCombinedHW::combined_recovery_action_server_

protected

Definition at line 71 of file franka_combined_hw.h.

◆ connect_server_

ros::ServiceServer franka_hw::FrankaCombinedHW::connect_server_

protected

Definition at line 72 of file franka_combined_hw.h.

◆ disconnect_server_

ros::ServiceServer franka_hw::FrankaCombinedHW::disconnect_server_

protected

Definition at line 73 of file franka_combined_hw.h.

◆ is_recovering_

bool franka_hw::FrankaCombinedHW::is_recovering_ {false}

private

Definition at line 78 of file franka_combined_hw.h.

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

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ FrankaCombinedHW()

◆ ~FrankaCombinedHW()

Member Function Documentation

◆ connect()

◆ controllerNeedsReset()

◆ disconnect()

◆ handleError()

◆ hasError()

◆ init()

◆ read()

◆ triggerError()

Member Data Documentation

◆ combined_recovery_action_server_

◆ connect_server_

◆ disconnect_server_

◆ is_recovering_