IRI ROS Specific Driver Class. More...

#include <ati_force_sensor_driver.h>

Inheritance diagram for AtiForceSensorDriver:

Public Types
typedef iri_ati_force_sensor::AtiForceSensorConfig	Config
	define config type
Public Member Functions
	AtiForceSensorDriver (void)
	constructor
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
geometry_msgs::WrenchStamped	getData (void)
	get sensor data
std::string	getNewSampleEventId (void) const
bool	openDriver (void)
	open driver
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	~AtiForceSensorDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
TATICalInfo	cal_info_
int	filter_cutt_off_freq_
boost::shared_ptr < CAti_Force_Sensor >	sensor_
TATISysInfo	sys_info_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The AtiForceSensorDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The AtiForceSensorConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 54 of file ati_force_sensor_driver.h.

Member Typedef Documentation

typedef iri_ati_force_sensor::AtiForceSensorConfig AtiForceSensorDriver::Config

define config type

Define a Config type with the AtiForceSensorConfig. All driver implementations will then use the same variable type Config.

Definition at line 71 of file ati_force_sensor_driver.h.

Constructor & Destructor Documentation

AtiForceSensorDriver::AtiForceSensorDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file ati_force_sensor_driver.cpp.

AtiForceSensorDriver::~AtiForceSensorDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 106 of file ati_force_sensor_driver.cpp.

Member Function Documentation

bool AtiForceSensorDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 22 of file ati_force_sensor_driver.cpp.

void AtiForceSensorDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 41 of file ati_force_sensor_driver.cpp.

geometry_msgs::WrenchStamped AtiForceSensorDriver::getData ( void )

get sensor data

gets the data of the sensor

Returns:: the current values of force and torque

Definition at line 83 of file ati_force_sensor_driver.cpp.

std::string AtiForceSensorDriver::getNewSampleEventId ( void ) const

Definition at line 78 of file ati_force_sensor_driver.cpp.

bool AtiForceSensorDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 12 of file ati_force_sensor_driver.cpp.

bool AtiForceSensorDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 27 of file ati_force_sensor_driver.cpp.

bool AtiForceSensorDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.