quori_controller::Quori Class Reference

#include <Quori.hpp>

Inheritance diagram for quori_controller::Quori:

Public Member Functions
	Quori (ros::NodeHandle &nh, const std::vector< SerialDevice::Ptr > &devices)
virtual void	read (const ros::Time &time, const ros::Duration &period)
void	write ()
virtual void	write (const ros::Time &time, const ros::Duration &period)
	~Quori ()
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 Member Functions
void	on_base_turret_pos_ (const std_msgs::Float32::ConstPtr &msg)
void	on_base_vel_status_ (const geometry_msgs::Vector3::ConstPtr &msg)

Private Attributes
Joint::Ptr	base_angle_
ros::Publisher	base_holo_vel_pub_
Joint::Ptr	base_left_
Joint::Ptr	base_mode_
float	base_offset_
ros::Publisher	base_offset_pub_
Joint::Ptr	base_right_
Joint::Ptr	base_turret_
ros::Subscriber	base_turret_pos_
boost::optional< geometry_msgs::Vector3::ConstPtr >	base_vel_
ros::Publisher	base_vel_pub_
ros::Subscriber	base_vel_status_
Joint::Ptr	base_x_
Joint::Ptr	base_y_
double *	device_joint_buffer_
std::map< SerialDevice::Ptr, std::vector< std::size_t > >	device_joints_
std::map< SerialDevice::Ptr, quori::message::States >	device_states_
std::vector< SerialDevice::Ptr >	devices_
std::unordered_map< std::string, std::size_t >	joint_indices_
std::vector< Joint::Ptr >	joints_
ros::Time	last_read_
std::size_t	max_device_joints_
ros::NodeHandle &	nh_
hardware_interface::PositionJointInterface	position_interface_
hardware_interface::JointStateInterface	state_interface_
hardware_interface::VelocityJointInterface	velocity_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

Definition at line 25 of file Quori.hpp.

Constructor & Destructor Documentation

Quori()

Quori::Quori	(	ros::NodeHandle &	nh,
		const std::vector< SerialDevice::Ptr > &	devices
	)

Definition at line 17 of file Quori.cpp.

~Quori()

Quori::~Quori

(

)

Definition at line 160 of file Quori.cpp.

Member Function Documentation

on_base_turret_pos_()

void Quori::on_base_turret_pos_ ( const std_msgs::Float32::ConstPtr &  msg )

private

Definition at line 251 of file Quori.cpp.

on_base_vel_status_()

void Quori::on_base_vel_status_ ( const geometry_msgs::Vector3::ConstPtr &  msg )

private

Definition at line 246 of file Quori.cpp.

read()

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

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 165 of file Quori.cpp.

write() [1/2]

void quori_controller::Quori::write

(

)

write() [2/2]

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

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 201 of file Quori.cpp.

Member Data Documentation

base_angle_

Joint::Ptr quori_controller::Quori::base_angle_

private

Definition at line 71 of file Quori.hpp.

base_holo_vel_pub_

ros::Publisher quori_controller::Quori::base_holo_vel_pub_

private

Definition at line 43 of file Quori.hpp.

base_left_

Joint::Ptr quori_controller::Quori::base_left_

private

Definition at line 66 of file Quori.hpp.

base_mode_

Joint::Ptr quori_controller::Quori::base_mode_

private

Definition at line 72 of file Quori.hpp.

base_offset_

float quori_controller::Quori::base_offset_

private

Definition at line 59 of file Quori.hpp.

base_offset_pub_

ros::Publisher quori_controller::Quori::base_offset_pub_

private

Definition at line 44 of file Quori.hpp.

base_right_

Joint::Ptr quori_controller::Quori::base_right_

private

Definition at line 67 of file Quori.hpp.

base_turret_

Joint::Ptr quori_controller::Quori::base_turret_

private

Definition at line 65 of file Quori.hpp.

base_turret_pos_

ros::Subscriber quori_controller::Quori::base_turret_pos_

private

Definition at line 46 of file Quori.hpp.

base_vel_

boost::optional<geometry_msgs::Vector3::ConstPtr> quori_controller::Quori::base_vel_

private

Definition at line 74 of file Quori.hpp.

base_vel_pub_

ros::Publisher quori_controller::Quori::base_vel_pub_

private

Definition at line 42 of file Quori.hpp.

base_vel_status_

ros::Subscriber quori_controller::Quori::base_vel_status_

private

Definition at line 45 of file Quori.hpp.

base_x_

Joint::Ptr quori_controller::Quori::base_x_

private

Definition at line 69 of file Quori.hpp.

base_y_

Joint::Ptr quori_controller::Quori::base_y_

private

Definition at line 70 of file Quori.hpp.

device_joint_buffer_

double* quori_controller::Quori::device_joint_buffer_

private

Definition at line 57 of file Quori.hpp.

device_joints_

std::map<SerialDevice::Ptr, std::vector<std::size_t> > quori_controller::Quori::device_joints_

private

Definition at line 55 of file Quori.hpp.

device_states_

std::map<SerialDevice::Ptr, quori::message::States> quori_controller::Quori::device_states_

private

Definition at line 49 of file Quori.hpp.

devices_

std::vector<SerialDevice::Ptr> quori_controller::Quori::devices_

private

Definition at line 48 of file Quori.hpp.

joint_indices_

std::unordered_map<std::string, std::size_t> quori_controller::Quori::joint_indices_

private

Definition at line 62 of file Quori.hpp.

joints_

std::vector<Joint::Ptr> quori_controller::Quori::joints_

private

Definition at line 63 of file Quori.hpp.

last_read_

ros::Time quori_controller::Quori::last_read_

private

Definition at line 76 of file Quori.hpp.

max_device_joints_

std::size_t quori_controller::Quori::max_device_joints_

private

Definition at line 56 of file Quori.hpp.

nh_

ros::NodeHandle& quori_controller::Quori::nh_

private

Definition at line 41 of file Quori.hpp.

position_interface_

hardware_interface::PositionJointInterface quori_controller::Quori::position_interface_

private

Definition at line 52 of file Quori.hpp.

state_interface_

hardware_interface::JointStateInterface quori_controller::Quori::state_interface_

private

Definition at line 51 of file Quori.hpp.

velocity_interface_

hardware_interface::VelocityJointInterface quori_controller::Quori::velocity_interface_

private

Definition at line 53 of file Quori.hpp.

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

• Quori.hpp
• Quori.cpp