#include <hardware_interface.h>
Public Member Functions | |
| bool | addAccelerometer (Accelerometer *accelerometer) |
| Add an accelerometer to the hardware interface. | |
| bool | addActuator (Actuator *actuator) |
| Add an actuator to the hardware interface. | |
| bool | addAnalogIn (AnalogIn *analog_in) |
| Add an analog-in device to the hardware interface. | |
| bool | addDigitalOut (DigitalOut *digital_out) |
| Add an digital I/O to the hardware interface. | |
| bool | addPressureSensor (PressureSensor *sensor) |
| Add an pressure sensor to the hardware interface. | |
| bool | addProjector (Projector *projector) |
| Add an projector to the hardware interface. | |
| Accelerometer * | getAccelerometer (const std::string &name) const |
| Get a pointer to the accelerometer by name. | |
| Actuator * | getActuator (const std::string &name) const |
| Get a pointer to the actuator by name. | |
| AnalogIn * | getAnalogIn (const std::string &name) const |
| Get a pointer to the analog-in device by name. | |
| DigitalOut * | getDigitalOut (const std::string &name) const |
| Get a pointer to the digital I/O by name. | |
| PressureSensor * | getPressureSensor (const std::string &name) const |
| Get a pointer to the pressure sensor by name. | |
| Projector * | getProjector (const std::string &name) const |
| Get a pointer to the projector by name. | |
Public Attributes | |
| AccelerometerMap | accelerometers_ |
| ActuatorMap | actuators_ |
| AnalogInMap | analog_ins_ |
| ros::Time | current_time_ |
| The time at which the commands were sent to the hardware. | |
| DigitalOutMap | digital_outs_ |
| PressureSensorMap | pressure_sensors_ |
| ProjectorMap | projectors_ |
The HardwareInterface class provides access to the PR2 hardware components that are controlled via EtherCAT. These components include:
For each component type, there exists a class definition that consists of the following three fields: # name - A unique name for this instance of a component type # command - A class which is used to send commands to this component # status - A class which is used to return the status of this component
Drivers that provide one or more of these components register the corresponding class for that component by name with the HardwareInterface. For a given component type, names must be unique.
Controllers can retrieve a pointer to a component's class by name. The component is controlled using the command_ field of the component class, and its status is given in the status_ field.
Definition at line 392 of file hardware_interface.h.
| bool pr2_hardware_interface::HardwareInterface::addAccelerometer | ( | Accelerometer * | accelerometer | ) | [inline] |
Add an accelerometer to the hardware interface.
| accelerometer | A pointer to the Accelerometer |
Definition at line 488 of file hardware_interface.h.
| bool pr2_hardware_interface::HardwareInterface::addActuator | ( | Actuator * | actuator | ) | [inline] |
Add an actuator to the hardware interface.
Definition at line 466 of file hardware_interface.h.
| bool pr2_hardware_interface::HardwareInterface::addAnalogIn | ( | AnalogIn * | analog_in | ) | [inline] |
Add an analog-in device to the hardware interface.
Definition at line 521 of file hardware_interface.h.
| bool pr2_hardware_interface::HardwareInterface::addDigitalOut | ( | DigitalOut * | digital_out | ) | [inline] |
Add an digital I/O to the hardware interface.
| digital_out | A pointer to the DigitalOut |
Definition at line 499 of file hardware_interface.h.
| bool pr2_hardware_interface::HardwareInterface::addPressureSensor | ( | PressureSensor * | sensor | ) | [inline] |
Add an pressure sensor to the hardware interface.
| sensor | A pointer to the PressureSensor |
Definition at line 477 of file hardware_interface.h.
| bool pr2_hardware_interface::HardwareInterface::addProjector | ( | Projector * | projector | ) | [inline] |
Add an projector to the hardware interface.
Definition at line 510 of file hardware_interface.h.
| Accelerometer* pr2_hardware_interface::HardwareInterface::getAccelerometer | ( | const std::string & | name | ) | const [inline] |
Get a pointer to the accelerometer by name.
| name | The name of the accelerometer |
Definition at line 426 of file hardware_interface.h.
| Actuator* pr2_hardware_interface::HardwareInterface::getActuator | ( | const std::string & | name | ) | const [inline] |
Get a pointer to the actuator by name.
| name | The name of the actuator |
Definition at line 406 of file hardware_interface.h.
| AnalogIn* pr2_hardware_interface::HardwareInterface::getAnalogIn | ( | const std::string & | name | ) | const [inline] |
Get a pointer to the analog-in device by name.
| name | The name of the analog-in device |
Definition at line 456 of file hardware_interface.h.
| DigitalOut* pr2_hardware_interface::HardwareInterface::getDigitalOut | ( | const std::string & | name | ) | const [inline] |
Get a pointer to the digital I/O by name.
| name | The name of the digital I/O |
Definition at line 436 of file hardware_interface.h.
| PressureSensor* pr2_hardware_interface::HardwareInterface::getPressureSensor | ( | const std::string & | name | ) | const [inline] |
Get a pointer to the pressure sensor by name.
| name | The name of the pressure sensor |
Definition at line 416 of file hardware_interface.h.
| Projector* pr2_hardware_interface::HardwareInterface::getProjector | ( | const std::string & | name | ) | const [inline] |
Get a pointer to the projector by name.
| name | The name of the projector |
Definition at line 446 of file hardware_interface.h.
Definition at line 397 of file hardware_interface.h.
Definition at line 395 of file hardware_interface.h.
Definition at line 400 of file hardware_interface.h.
The time at which the commands were sent to the hardware.
Definition at line 527 of file hardware_interface.h.
Definition at line 398 of file hardware_interface.h.
Definition at line 396 of file hardware_interface.h.
Definition at line 399 of file hardware_interface.h.