This class defines a ros-control hardware interface. More...

#include <SVHRosControlHWInterface.h>

Inheritance diagram for SVHRosControlHWInterface:

Public Member Functions
void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
	Initialize the hardware interface. More...

bool	isEnabled () const

bool	isFault ()
	Returns true, when at least one node in the hardware is in a fault state. More...

bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

virtual void	read (const ros::Time &time, const ros::Duration &period)
	Read the state from the robot hardware. More...

	SVHRosControlHWInterface ()

virtual void	write (const ros::Time &time, const ros::Duration &period)
	write the command to the robot hardware. More...

	~SVHRosControlHWInterface ()

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 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)

Protected Attributes
std::vector< std::string >	m_channel_names

bool	m_is_fault

std::vector< double >	m_joint_effort

joint_limits_interface::JointLimits	m_joint_limits

std::vector< double >	m_joint_position_commands

std::vector< double >	m_joint_positions

joint_limits_interface::SoftJointLimits	m_joint_soft_limits

hardware_interface::JointStateInterface	m_joint_state_interface

std::vector< double >	m_joint_velocity

ros::NodeHandle	m_node_handle
	Creates a joint_state message from the current joint angles and returns it. More...

std::vector< uint8_t >	m_node_ids

size_t	m_num_joints

hardware_interface::PositionJointInterface	m_position_joint_interface

std::shared_ptr< SVHWrapper >	m_svh
	Handle to the SVH finger manager for library access. More...

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_

Private Attributes
bool	m_hardware_ready

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

Detailed Description

This class defines a ros-control hardware interface.

Definition at line 51 of file SVHRosControlHWInterface.h.

Constructor & Destructor Documentation

◆ SVHRosControlHWInterface()

SVHRosControlHWInterface::SVHRosControlHWInterface ( )

Definition at line 49 of file SVHRosControlHWInterface.cpp.

◆ ~SVHRosControlHWInterface()

SVHRosControlHWInterface::~SVHRosControlHWInterface ( )

Definition at line 51 of file SVHRosControlHWInterface.cpp.

Member Function Documentation

◆ doSwitch()

void SVHRosControlHWInterface::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 184 of file SVHRosControlHWInterface.cpp.

◆ init()

bool SVHRosControlHWInterface::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

virtual

Initialize the hardware interface.

Reimplemented from hardware_interface::RobotHW.

Definition at line 54 of file SVHRosControlHWInterface.cpp.

◆ isEnabled()

bool SVHRosControlHWInterface::isEnabled ( ) const

Definition at line 191 of file SVHRosControlHWInterface.cpp.

◆ isFault()

bool SVHRosControlHWInterface::isFault ( )

inline

Returns true, when at least one node in the hardware is in a fault state.

Definition at line 77 of file SVHRosControlHWInterface.h.

◆ prepareSwitch()

bool SVHRosControlHWInterface::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 177 of file SVHRosControlHWInterface.cpp.

◆ read()

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

virtual

Read the state from the robot hardware.

Reimplemented from hardware_interface::RobotHW.

Definition at line 104 of file SVHRosControlHWInterface.cpp.

◆ write()

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

virtual

write the command to the robot hardware.

Reimplemented from hardware_interface::RobotHW.

Definition at line 146 of file SVHRosControlHWInterface.cpp.

Member Data Documentation

◆ m_channel_names

std::vector<std::string> SVHRosControlHWInterface::m_channel_names

protected

Definition at line 95 of file SVHRosControlHWInterface.h.

◆ m_hardware_ready

bool SVHRosControlHWInterface::m_hardware_ready

private

Definition at line 108 of file SVHRosControlHWInterface.h.

◆ m_is_fault

bool SVHRosControlHWInterface::m_is_fault

protected

Definition at line 101 of file SVHRosControlHWInterface.h.

◆ m_joint_effort

std::vector<double> SVHRosControlHWInterface::m_joint_effort

protected

Definition at line 98 of file SVHRosControlHWInterface.h.

◆ m_joint_limits

joint_limits_interface::JointLimits SVHRosControlHWInterface::m_joint_limits

protected

Definition at line 103 of file SVHRosControlHWInterface.h.

◆ m_joint_position_commands

std::vector<double> SVHRosControlHWInterface::m_joint_position_commands

protected

Definition at line 99 of file SVHRosControlHWInterface.h.

◆ m_joint_positions

std::vector<double> SVHRosControlHWInterface::m_joint_positions

protected

Definition at line 96 of file SVHRosControlHWInterface.h.

◆ m_joint_soft_limits

joint_limits_interface::SoftJointLimits SVHRosControlHWInterface::m_joint_soft_limits

protected

Definition at line 105 of file SVHRosControlHWInterface.h.

◆ m_joint_state_interface

hardware_interface::JointStateInterface SVHRosControlHWInterface::m_joint_state_interface

protected

Definition at line 89 of file SVHRosControlHWInterface.h.

◆ m_joint_velocity

std::vector<double> SVHRosControlHWInterface::m_joint_velocity

protected

Definition at line 97 of file SVHRosControlHWInterface.h.

◆ m_node_handle

ros::NodeHandle SVHRosControlHWInterface::m_node_handle

protected

Creates a joint_state message from the current joint angles and returns it.

Definition at line 84 of file SVHRosControlHWInterface.h.

◆ m_node_ids

std::vector<uint8_t> SVHRosControlHWInterface::m_node_ids

protected

Definition at line 94 of file SVHRosControlHWInterface.h.

◆ m_num_joints

size_t SVHRosControlHWInterface::m_num_joints

protected

Definition at line 92 of file SVHRosControlHWInterface.h.

◆ m_position_joint_interface

hardware_interface::PositionJointInterface SVHRosControlHWInterface::m_position_joint_interface

protected

Definition at line 90 of file SVHRosControlHWInterface.h.

◆ m_svh

std::shared_ptr<SVHWrapper> SVHRosControlHWInterface::m_svh

protected

Handle to the SVH finger manager for library access.

Definition at line 86 of file SVHRosControlHWInterface.h.

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

Public Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SVHRosControlHWInterface()

◆ ~SVHRosControlHWInterface()

Member Function Documentation

◆ doSwitch()

◆ init()

◆ isEnabled()

◆ isFault()

◆ prepareSwitch()

◆ read()

◆ write()

Member Data Documentation

◆ m_channel_names

◆ m_hardware_ready

◆ m_is_fault

◆ m_joint_effort

◆ m_joint_limits

◆ m_joint_position_commands

◆ m_joint_positions

◆ m_joint_soft_limits

◆ m_joint_state_interface

◆ m_joint_velocity

◆ m_node_handle

◆ m_node_ids

◆ m_num_joints

◆ m_position_joint_interface

◆ m_svh