ign_ros_control::IgnitionSystem Class Reference

#include <ign_system.hpp>

Inheritance diagram for ign_ros_control::IgnitionSystem:

Public Member Functions
	IgnitionSystem ()
bool	initSim (ros::NodeHandle model_nh, std::map< std::string, ignition::gazebo::Entity > &joints, ignition::gazebo::EntityComponentManager &ecm, std::vector< transmission_interface::TransmissionInfo > transmissions, int &update_rate) override
	Initialize the system interface param[in] model_nh Pointer to the ros node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] _ecm Entity-component manager. param[in] transmissions structure to handle joint with transmissions param[in] update_rate controller update rate. More...
virtual void	read () override
virtual void	write () override
virtual	~IgnitionSystem () 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 void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual bool	init (ros::NodeHandle &, ros::NodeHandle &)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual void	read (const ros::Time &, const ros::Duration &)
virtual void	read (const ros::Time &, const ros::Duration &)
virtual SwitchState	switchResult () const
virtual SwitchState	switchResult (const ControllerInfo &) const
virtual void	write (const ros::Time &, const ros::Duration &)
virtual void	write (const ros::Time &, const ros::Duration &)
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::unique_ptr< IgnitionSystemPrivate >	dataPtr
	Private data class. More...
hardware_interface::EffortJointInterface	ej_interface_
hardware_interface::JointStateInterface	js_interface_
hardware_interface::PositionJointInterface	pj_interface_
hardware_interface::VelocityJointInterface	vj_interface_

Additional Inherited Members
Public Types inherited from ign_ros_control::IgnitionSystemInterface
enum	ControlMethod {   EFFORT, POSITION, POSITION_PID, VELOCITY,   VELOCITY_PID }
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 Attributes inherited from ign_ros_control::IgnitionSystemInterface
ros::NodeHandle	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_

Detailed Description

Definition at line 33 of file ign_system.hpp.

Constructor & Destructor Documentation

IgnitionSystem()

ign_ros_control::IgnitionSystem::IgnitionSystem

(

)

Definition at line 94 of file ign_system.cpp.

~IgnitionSystem()

ign_ros_control::IgnitionSystem::~IgnitionSystem ( )

overridevirtualdefault

Member Function Documentation

initSim()

bool ign_ros_control::IgnitionSystem::initSim ( ros::NodeHandle  model_nh, std::map< std::string, ignition::gazebo::Entity > &  joints, ignition::gazebo::EntityComponentManager &  _ecm, std::vector< transmission_interface::TransmissionInfo >  transmissions, int &  update_rate  )

overridevirtual

Initialize the system interface param[in] model_nh Pointer to the ros node param[in] joints Map with the name of the joint as the key and the value is related with the entity in Gazebo param[in] _ecm Entity-component manager. param[in] transmissions structure to handle joint with transmissions param[in] update_rate controller update rate.

Implements ign_ros_control::IgnitionSystemInterface.

Definition at line 102 of file ign_system.cpp.

read()

void ign_ros_control::IgnitionSystem::read ( )

overridevirtual

Implements ign_ros_control::IgnitionSystemInterface.

Definition at line 248 of file ign_system.cpp.

write()

void ign_ros_control::IgnitionSystem::write ( )

overridevirtual

Implements ign_ros_control::IgnitionSystemInterface.

Definition at line 273 of file ign_system.cpp.

Member Data Documentation

dataPtr

std::unique_ptr<IgnitionSystemPrivate> ign_ros_control::IgnitionSystem::dataPtr

private

Private data class.

Definition at line 58 of file ign_system.hpp.

ej_interface_

hardware_interface::EffortJointInterface ign_ros_control::IgnitionSystem::ej_interface_

private

Definition at line 61 of file ign_system.hpp.

js_interface_

hardware_interface::JointStateInterface ign_ros_control::IgnitionSystem::js_interface_

private

Definition at line 60 of file ign_system.hpp.

pj_interface_

hardware_interface::PositionJointInterface ign_ros_control::IgnitionSystem::pj_interface_

private

Definition at line 62 of file ign_system.hpp.

vj_interface_

hardware_interface::VelocityJointInterface ign_ros_control::IgnitionSystem::vj_interface_

private

Definition at line 63 of file ign_system.hpp.

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

• ign_system.hpp
• ign_system.cpp