#include <ign_system_interface.hpp>
Inheritance diagram for ign_ros_control::IgnitionSystemInterface:
Public Types | |
| enum | ControlMethod { EFFORT, POSITION, POSITION_PID, VELOCITY, VELOCITY_PID } |
 Public Types inherited from hardware_interface::RobotHW | |
| enum | SwitchState { SwitchState::DONE, SwitchState::ONGOING, SwitchState::ERROR } |
Public Member Functions | |
| virtual 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)=0 |
| 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 ()=0 |
| virtual void | write ()=0 |
| 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) |
Protected Attributes | |
| 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_ |
Additional Inherited Members | |
| 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 |
Detailed Description
Definition at line 37 of file ign_system_interface.hpp.
Member Enumeration Documentation
◆ ControlMethod
| Enumerator | |
|---|---|
| EFFORT | |
| POSITION | |
| POSITION_PID | |
| VELOCITY | |
| VELOCITY_PID | |
Definition at line 57 of file ign_system_interface.hpp.
Member Function Documentation
◆ initSim()
|
pure virtual |
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.
Implemented in ign_ros_control::IgnitionSystem.
◆ read()
|
pure virtual |
Implemented in ign_ros_control::IgnitionSystem.
◆ write()
|
pure virtual |
Implemented in ign_ros_control::IgnitionSystem.
Member Data Documentation
◆ nh_
|
protected |
Definition at line 67 of file ign_system_interface.hpp.
The documentation for this class was generated from the following file: