Inheritance diagram for khi_robot_control::KhiRobotHardwareInterface:

Public Member Functions
bool	activate ()

void	close ()

void	deactivate ()

bool	getPeriodDiff (double &diff)

int	getStateTrigger ()

bool	hold ()

	KhiRobotHardwareInterface ()

bool	open (const std::string &robot_name, const std::string &ip_address, const double &period, const bool in_simulation=false)

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

int	updateState ()

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

	~KhiRobotHardwareInterface ()

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 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)

Private Attributes
khi_robot_control::KhiRobotClient *	client

khi_robot_control::KhiRobotData	data

joint_limits_interface::PositionJointSaturationInterface	joint_limit_interface

hardware_interface::PositionJointInterface	joint_position_interface

hardware_interface::JointStateInterface	joint_state_interface

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 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

Constructor & Destructor Documentation

khi_robot_control::KhiRobotHardwareInterface::KhiRobotHardwareInterface ( )

khi_robot_control::KhiRobotHardwareInterface::~KhiRobotHardwareInterface ( )

bool khi_robot_control::KhiRobotHardwareInterface::activate ( )

void khi_robot_control::KhiRobotHardwareInterface::close ( )

void khi_robot_control::KhiRobotHardwareInterface::deactivate ( )

bool khi_robot_control::KhiRobotHardwareInterface::getPeriodDiff ( double & diff )

int khi_robot_control::KhiRobotHardwareInterface::getStateTrigger ( )

bool khi_robot_control::KhiRobotHardwareInterface::hold ( )

bool khi_robot_control::KhiRobotHardwareInterface::open	(	const std::string &	robot_name,
		const std::string &	ip_address,
		const double &	period,
		const bool	in_simulation = `false`
	)