#include <qb_hand_gazebo_hardware_interface.h>

Inheritance diagram for qb_hand_gazebo_hardware_interface::qbHandHWSim:

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Public Member Functions
bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions) override

	qbHandHWSim ()=default

void	readSim (ros::Time time, ros::Duration period) override

void	writeSim (ros::Time time, ros::Duration period) override

	~qbHandHWSim () override=default

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual void	eStopActive (const bool active)

virtual	~RobotHWSim ()

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)

Private Attributes
qb_device_hardware_interface::qbDeviceHWInterfaces	interfaces_

qb_device_joint_limits_interface::qbDeviceJointLimitsResources	joint_limits_

qb_device_hardware_interface::qbDeviceHWResources	joints_

ros::NodeHandle	model_nh_

std::vector< gazebo::physics::JointPtr >	sim_joints_

urdf::Model	urdf_model_

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

Definition at line 104 of file qb_hand_gazebo_hardware_interface.h.

Constructor & Destructor Documentation

◆ qbHandHWSim()

qb_hand_gazebo_hardware_interface::qbHandHWSim::qbHandHWSim ( )

default

◆ ~qbHandHWSim()

qb_hand_gazebo_hardware_interface::qbHandHWSim::~qbHandHWSim ( )

overridedefault

Member Function Documentation

◆ initSim()

bool qbHandHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)