hardware_interface Namespace Reference

Namespaces
	ImuSensorHandle
	internal

Classes
class	ActuatorCommandInterface
class	ActuatorHandle
class	ActuatorStateHandle
class	ActuatorStateInterface
struct	ControllerInfo
class	EffortActuatorInterface
class	EffortJointInterface
class	ForceTorqueSensorHandle
class	ForceTorqueSensorInterface
class	HardwareInterface
class	HardwareInterfaceException
class	HardwareResourceManager
class	ImuSensorHandle
class	ImuSensorInterface
class	InterfaceManager
struct	InterfaceResources
class	JointCommandInterface
class	JointHandle
class	JointModeHandle
class	JointModeInterface
class	JointStateHandle
class	JointStateInterface
class	PositionActuatorInterface
class	PositionJointInterface
class	PositionVelocityTorqueGainsJointHandle
class	PositionVelocityTorqueGainsJointInterface
class	PosVelAccJointHandle
class	PosVelAccJointInterface
class	PosVelJointHandle
class	PosVelJointInterface
class	ResourceManager
class	ResourceManagerBase
class	RobotHW
class	TrajectoryInterface
	Hardware interface for forwarding trajectories. More...
class	VelocityActuatorInterface
class	VelocityJointInterface

Typedefs
using	CartesianTrajectory = cartesian_control_msgs::FollowCartesianTrajectoryGoal
	TrajectoryType for Cartesian trajectories. More...
using	CartesianTrajectoryFeedback = cartesian_control_msgs::FollowCartesianTrajectoryFeedback
	FeedbackType for Cartesian trajectories. More...
using	CartesianTrajectoryInterface = TrajectoryInterface< CartesianTrajectory, CartesianTrajectoryFeedback >
	Hardware interface for commanding (forwarding) Cartesian trajectories. More...
using	JointTrajectory = control_msgs::FollowJointTrajectoryGoal
	TrajectoryType for joint-based trajectories. More...
using	JointTrajectoryFeedback = control_msgs::FollowJointTrajectoryFeedback
	FeedbackType for joint-based trajectories. More...
using	JointTrajectoryInterface = TrajectoryInterface< JointTrajectory, JointTrajectoryFeedback >
	Hardware interface for commanding (forwarding) joint-based trajectories. More...
typedef std::shared_ptr< RobotHW >	RobotHWSharedPtr

Enumerations
enum	ExecutionState { ExecutionState::SUCCESS = 0, ExecutionState::PREEMPTED = -1, ExecutionState::ABORTED = -2 }
	Hardware-generic done flags for trajectory execution. More...
enum	JointCommandModes {   JointCommandModes::BEGIN, JointCommandModes::MODE_POSITION, JointCommandModes::MODE_VELOCITY, JointCommandModes::MODE_EFFORT,   JointCommandModes::NOMODE, JointCommandModes::EMERGENCY_STOP, JointCommandModes::SWITCHING, JointCommandModes::ERROR }

Functions
bool	operator< (hardware_interface::ControllerInfo const &i1, hardware_interface::ControllerInfo const &i2)

Typedef Documentation

CartesianTrajectory

using hardware_interface::CartesianTrajectory = typedef cartesian_control_msgs::FollowCartesianTrajectoryGoal

TrajectoryType for Cartesian trajectories.

Definition at line 63 of file trajectory_interface.h.

CartesianTrajectoryFeedback

using hardware_interface::CartesianTrajectoryFeedback = typedef cartesian_control_msgs::FollowCartesianTrajectoryFeedback

FeedbackType for Cartesian trajectories.

Definition at line 73 of file trajectory_interface.h.

CartesianTrajectoryInterface

using hardware_interface::CartesianTrajectoryInterface = typedef TrajectoryInterface<CartesianTrajectory, CartesianTrajectoryFeedback>

Hardware interface for commanding (forwarding) Cartesian trajectories.

Definition at line 330 of file trajectory_interface.h.

JointTrajectory

using hardware_interface::JointTrajectory = typedef control_msgs::FollowJointTrajectoryGoal

TrajectoryType for joint-based trajectories.

Definition at line 58 of file trajectory_interface.h.

JointTrajectoryFeedback

using hardware_interface::JointTrajectoryFeedback = typedef control_msgs::FollowJointTrajectoryFeedback

FeedbackType for joint-based trajectories.

Definition at line 68 of file trajectory_interface.h.

JointTrajectoryInterface

using hardware_interface::JointTrajectoryInterface = typedef TrajectoryInterface<JointTrajectory, JointTrajectoryFeedback>

Hardware interface for commanding (forwarding) joint-based trajectories.

Definition at line 325 of file trajectory_interface.h.

Enumeration Type Documentation

ExecutionState

enum hardware_interface::ExecutionState

strong

Hardware-generic done flags for trajectory execution.

When forwarding trajectories to robots, we hand-over control of the actual execution. This is a minimal set of generic flags to be reported by the hardware that PassThroughControllers can process and react upon.

Enumerator
SUCCESS
PREEMPTED
ABORTED

Definition at line 48 of file trajectory_interface.h.