The qbrobotics Device HardWare Interfaces is a simple class aimed to group all the hardware_interface:: related structures in a unique place. More...

#include <qb_device_hardware_resources.h>

Public Member Functions
void	initialize (hardware_interface::RobotHW *robot, qbDeviceHWResources &joints)
	Initialize the `joint_state` and `joint_position` HW interfaces with the given device Resource. More...

	qbDeviceHWInterfaces ()
	Do nothing. More...

virtual	~qbDeviceHWInterfaces ()
	Do nothing. More...

Public Attributes
hardware_interface::PositionJointInterface	joint_position

hardware_interface::JointStateInterface	joint_state

Detailed Description

The qbrobotics Device HardWare Interfaces is a simple class aimed to group all the hardware_interface:: related structures in a unique place.

The interfaces supported are the one to read the state (position, velocity and effort) of an array of named joints, and the the one to send reference commands to another array of named position-based joints, i.e. device position control.

See also: qbDeviceHWResources

Todo:: Actually qbrobotics devices are controllable both in position and in current (effort), but the hardware_interface::EffortJointInterface is not yet planned to be implemented.

Definition at line 212 of file qb_device_hardware_resources.h.

Constructor & Destructor Documentation

◆ qbDeviceHWInterfaces()

qb_device_hardware_interface::qbDeviceHWInterfaces::qbDeviceHWInterfaces ( )

inline

Do nothing.

See also: initialize()

Definition at line 218 of file qb_device_hardware_resources.h.

◆ ~qbDeviceHWInterfaces()

virtual qb_device_hardware_interface::qbDeviceHWInterfaces::~qbDeviceHWInterfaces ( )

inlinevirtual

Do nothing.

Definition at line 223 of file qb_device_hardware_resources.h.

Member Function Documentation

◆ initialize()

void qb_device_hardware_interface::qbDeviceHWInterfaces::initialize	(	hardware_interface::RobotHW *	robot,
		qbDeviceHWResources &	joints
	)

inline

Initialize the joint_state and joint_position HW interfaces with the given device Resource.

The joint state interface links joint position, velocity and effort to the proper joint name (same as in the robot_description), while the joint position interface allows to control the same joint with joint a position reference command.

Parameters