pilz_testutils::JointStatePublisherMock Class Reference

Mocks the joint_states interface. Can simulate robot movement by changing the position of the first joint in controller_joint_names. More...

#include <joint_state_publisher_mock.h>

Public Member Functions
JointStateConstPtr	getNextMessage ()
	Return the message which will be published next. More...
void	goHome ()
	Go back to home position (position=velocity=0.0). More...
	JointStatePublisherMock ()
	JointStatePublisherMock (const JointStatePublisherMock &other)=delete
JointStatePublisherMock &	operator= (const JointStatePublisherMock &other)=delete
void	setJoint1Velocity (const double &vel)
void	startPublishingAsync (const double &joint1_start_position=0.0)
void	stopPublishing ()
	~JointStatePublisherMock ()

Private Types
typedef sensor_msgs::JointState	JointState
typedef sensor_msgs::JointStateConstPtr	JointStateConstPtr

Private Member Functions
void	createNextMessage ()
void	publish ()
void	run ()
void	updateJoint1Position ()
void	updateNextMessage ()

Private Attributes
std::atomic_bool	go_home_flag_
double	joint1_position_ { 0.0 }
double	joint1_velocity_ { 0.0 }
std::vector< std::string >	joint_names_
JointState	next_msg_
std::mutex	next_msg_mutex_
ros::Time	next_time_stamp_
ros::NodeHandle	nh_
ros::Publisher	pub_
std::thread	publisher_thread_
std::atomic_bool	stop_flag_

Detailed Description

Mocks the joint_states interface. Can simulate robot movement by changing the position of the first joint in controller_joint_names.

Definition at line 38 of file joint_state_publisher_mock.h.

Member Typedef Documentation

JointState

typedef sensor_msgs::JointState pilz_testutils::JointStatePublisherMock::JointState

private

Definition at line 40 of file joint_state_publisher_mock.h.

JointStateConstPtr

typedef sensor_msgs::JointStateConstPtr pilz_testutils::JointStatePublisherMock::JointStateConstPtr

private

Definition at line 41 of file joint_state_publisher_mock.h.

Constructor & Destructor Documentation

JointStatePublisherMock() [1/2]

pilz_testutils::JointStatePublisherMock::JointStatePublisherMock

(

)

Definition at line 37 of file joint_state_publisher_mock.cpp.

~JointStatePublisherMock()

pilz_testutils::JointStatePublisherMock::~JointStatePublisherMock

(

)

Definition at line 45 of file joint_state_publisher_mock.cpp.

JointStatePublisherMock() [2/2]

pilz_testutils::JointStatePublisherMock::JointStatePublisherMock ( const JointStatePublisherMock &  other )

delete

Member Function Documentation

createNextMessage()

void pilz_testutils::JointStatePublisherMock::createNextMessage ( )

private

Definition at line 104 of file joint_state_publisher_mock.cpp.

getNextMessage()

sensor_msgs::JointStateConstPtr pilz_testutils::JointStatePublisherMock::getNextMessage

(

)

Return the message which will be published next.

Definition at line 78 of file joint_state_publisher_mock.cpp.

goHome()

void pilz_testutils::JointStatePublisherMock::goHome

(

)

Go back to home position (position=velocity=0.0).

This is needed in order to ensure a clean tear-down. The current velocity is maintained until the home position is reached.

Definition at line 64 of file joint_state_publisher_mock.cpp.

operator=()

JointStatePublisherMock& pilz_testutils::JointStatePublisherMock::operator= ( const JointStatePublisherMock &  other )

delete

publish()

void pilz_testutils::JointStatePublisherMock::publish ( )

private

Definition at line 115 of file joint_state_publisher_mock.cpp.

run()

void pilz_testutils::JointStatePublisherMock::run ( )

private

Definition at line 84 of file joint_state_publisher_mock.cpp.

setJoint1Velocity()

void pilz_testutils::JointStatePublisherMock::setJoint1Velocity

(

const double &

vel

)

Definition at line 57 of file joint_state_publisher_mock.cpp.

startPublishingAsync()

void pilz_testutils::JointStatePublisherMock::startPublishingAsync

(

const double &

joint1_start_position = 0.0

)

Definition at line 50 of file joint_state_publisher_mock.cpp.

stopPublishing()

void pilz_testutils::JointStatePublisherMock::stopPublishing

(

)

Definition at line 69 of file joint_state_publisher_mock.cpp.

updateJoint1Position()

void pilz_testutils::JointStatePublisherMock::updateJoint1Position ( )

private

Definition at line 126 of file joint_state_publisher_mock.cpp.

updateNextMessage()

void pilz_testutils::JointStatePublisherMock::updateNextMessage ( )

private

Definition at line 120 of file joint_state_publisher_mock.cpp.

Member Data Documentation

go_home_flag_

std::atomic_bool pilz_testutils::JointStatePublisherMock::go_home_flag_

private

Definition at line 82 of file joint_state_publisher_mock.h.

joint1_position_

double pilz_testutils::JointStatePublisherMock::joint1_position_ { 0.0 }

private

Definition at line 84 of file joint_state_publisher_mock.h.

joint1_velocity_

double pilz_testutils::JointStatePublisherMock::joint1_velocity_ { 0.0 }

private

Definition at line 85 of file joint_state_publisher_mock.h.

joint_names_

std::vector<std::string> pilz_testutils::JointStatePublisherMock::joint_names_

private

Definition at line 80 of file joint_state_publisher_mock.h.

next_msg_

JointState pilz_testutils::JointStatePublisherMock::next_msg_

private

Definition at line 87 of file joint_state_publisher_mock.h.

next_msg_mutex_

std::mutex pilz_testutils::JointStatePublisherMock::next_msg_mutex_

private

Definition at line 88 of file joint_state_publisher_mock.h.

next_time_stamp_

ros::Time pilz_testutils::JointStatePublisherMock::next_time_stamp_

private

Definition at line 86 of file joint_state_publisher_mock.h.

nh_

ros::NodeHandle pilz_testutils::JointStatePublisherMock::nh_

private

Definition at line 78 of file joint_state_publisher_mock.h.

pub_

ros::Publisher pilz_testutils::JointStatePublisherMock::pub_

private

Definition at line 79 of file joint_state_publisher_mock.h.

publisher_thread_

std::thread pilz_testutils::JointStatePublisherMock::publisher_thread_

private

Definition at line 83 of file joint_state_publisher_mock.h.

stop_flag_

std::atomic_bool pilz_testutils::JointStatePublisherMock::stop_flag_

private

Definition at line 81 of file joint_state_publisher_mock.h.

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

• joint_state_publisher_mock.h
• joint_state_publisher_mock.cpp