Definition at line 50 of file FRIComponent.cpp.
| FRIComponent::FRIComponent | ( | const std::string & | name | ) | [inline] |
Definition at line 52 of file FRIComponent.cpp.
| FRIComponent::~FRIComponent | ( | ) | [inline] |
Definition at line 78 of file FRIComponent.cpp.
| bool FRIComponent::configureHook | ( | ) | [inline] |
Definition at line 81 of file FRIComponent.cpp.
| void FRIComponent::doComm | ( | ) | [inline, private] |
Definition at line 120 of file FRIComponent.cpp.
| int FRIComponent::fri_create_socket | ( | ) | [inline, private] |
Definition at line 429 of file FRIComponent.cpp.
| int FRIComponent::fri_recv | ( | ) | [inline, private] |
Definition at line 405 of file FRIComponent.cpp.
| int FRIComponent::fri_send | ( | ) | [inline, private] |
Definition at line 416 of file FRIComponent.cpp.
| bool FRIComponent::isPowerOn | ( | ) | [inline, private] |
Definition at line 427 of file FRIComponent.cpp.
| bool FRIComponent::startHook | ( | ) | [inline] |
Definition at line 101 of file FRIComponent.cpp.
| void FRIComponent::stopHook | ( | ) | [inline] |
Definition at line 107 of file FRIComponent.cpp.
| void FRIComponent::updateHook | ( | ) | [inline] |
Definition at line 112 of file FRIComponent.cpp.
uint16_t FRIComponent::counter [private] |
Definition at line 398 of file FRIComponent.cpp.
uint16_t FRIComponent::fri_state_last [private] |
Definition at line 398 of file FRIComponent.cpp.
KDL::Jacobian FRIComponent::jac_ [private] |
Definition at line 392 of file FRIComponent.cpp.
std::vector<double> FRIComponent::jnt_pos_ [private] |
Definition at line 384 of file FRIComponent.cpp.
std::vector<double> FRIComponent::jnt_pos_cmd_ [private] |
Definition at line 389 of file FRIComponent.cpp.
std::vector<double> FRIComponent::jnt_pos_old_ [private] |
Definition at line 385 of file FRIComponent.cpp.
std::vector<double> FRIComponent::jnt_trq_ [private] |
Definition at line 386 of file FRIComponent.cpp.
std::vector<double> FRIComponent::jnt_trq_cmd_ [private] |
Definition at line 390 of file FRIComponent.cpp.
std::vector<double> FRIComponent::jnt_vel_ [private] |
Definition at line 387 of file FRIComponent.cpp.
std::string FRIComponent::joint_names_prefix [private] |
Definition at line 397 of file FRIComponent.cpp.
tFriCmdData FRIComponent::m_cmd_data [private] |
Definition at line 403 of file FRIComponent.cpp.
int FRIComponent::m_control_mode [private] |
Definition at line 396 of file FRIComponent.cpp.
tFriMsrData FRIComponent::m_msr_data [private] |
Definition at line 402 of file FRIComponent.cpp.
struct sockaddr_in FRIComponent::m_remote_addr [private] |
Definition at line 399 of file FRIComponent.cpp.
int FRIComponent::m_remote_port [private] |
Definition at line 396 of file FRIComponent.cpp.
socklen_t FRIComponent::m_sock_addr_len [private] |
Definition at line 400 of file FRIComponent.cpp.
int FRIComponent::m_socket [private] |
Definition at line 396 of file FRIComponent.cpp.
RTT::InputPort<lwr_fri::CartesianImpedance > FRIComponent::port_CartesianImpedanceCommand [private] |
Definition at line 361 of file FRIComponent.cpp.
RTT::OutputPort<geometry_msgs::Pose > FRIComponent::port_CartesianPosition [private] |
Definition at line 374 of file FRIComponent.cpp.
RTT::InputPort<geometry_msgs::Pose > FRIComponent::port_CartesianPositionCommand [private] |
Definition at line 363 of file FRIComponent.cpp.
RTT::OutputPort<geometry_msgs::Twist > FRIComponent::port_CartesianVelocity [private] |
Definition at line 373 of file FRIComponent.cpp.
RTT::OutputPort<geometry_msgs::Wrench > FRIComponent::port_CartesianWrench [private] |
Definition at line 369 of file FRIComponent.cpp.
RTT::InputPort<geometry_msgs::Wrench > FRIComponent::port_CartesianWrenchCommand [private] |
Definition at line 362 of file FRIComponent.cpp.
RTT::OutputPort<tFriIntfState > FRIComponent::port_FRIState [private] |
Definition at line 371 of file FRIComponent.cpp.
RTT::OutputPort<KDL::Jacobian > FRIComponent::port_Jacobian [private] |
Definition at line 376 of file FRIComponent.cpp.
RTT::InputPort<lwr_fri::FriJointImpedance > FRIComponent::port_JointImpedanceCommand [private] |
Definition at line 364 of file FRIComponent.cpp.
RTT::OutputPort<std::vector<double> > FRIComponent::port_JointPosition [private] |
Definition at line 378 of file FRIComponent.cpp.
RTT::InputPort<std::vector<double> > FRIComponent::port_JointPositionCommand [private] |
Definition at line 365 of file FRIComponent.cpp.
RTT::OutputPort<std::vector<double> > FRIComponent::port_JointTorque [private] |
Definition at line 377 of file FRIComponent.cpp.
RTT::InputPort<std::vector<double> > FRIComponent::port_JointTorqueCommand [private] |
Definition at line 366 of file FRIComponent.cpp.
RTT::OutputPort<std::vector<double> > FRIComponent::port_JointVelocity [private] |
Definition at line 372 of file FRIComponent.cpp.
RTT::InputPort<std_msgs::Int32 > FRIComponent::port_KRL_CMD [private] |
Definition at line 367 of file FRIComponent.cpp.
RTT::OutputPort<Matrix77d > FRIComponent::port_MassMatrix [private] |
Definition at line 375 of file FRIComponent.cpp.
RTT::OutputPort<tFriRobotState > FRIComponent::port_RobotState [private] |
Definition at line 370 of file FRIComponent.cpp.
int FRIComponent::prop_fri_port [private] |
Definition at line 380 of file FRIComponent.cpp.
KDL::Frame FRIComponent::T_old [private] |
Definition at line 394 of file FRIComponent.cpp.
