#include <robot_layer.h>

Inheritance diagram for HandleLayer:

Public Types
enum	CanSwitchResult { NotSupported, NotReadyToSwitch, ReadyToSwitch, NoNeedToSwitch }
Public Member Functions
CanSwitchResult	canSwitch (const canopen::MotorBase::OperationMode &m)
void	enableLimits (bool enable)
void	enforceLimits (const ros::Duration &period, bool reset)
bool	forwardForMode (const canopen::MotorBase::OperationMode &m)
	HandleLayer (const std::string &name, const boost::shared_ptr< canopen::MotorBase > &motor, const boost::shared_ptr< canopen::ObjectStorage > storage, XmlRpc::XmlRpcValue &options)
bool	prepareFilters (canopen::LayerStatus &status)
void	registerHandle (hardware_interface::JointStateInterface &iface)
hardware_interface::JointHandle *	registerHandle (hardware_interface::PositionJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)
hardware_interface::JointHandle *	registerHandle (hardware_interface::VelocityJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)
hardware_interface::JointHandle *	registerHandle (hardware_interface::EffortJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)
bool	switchMode (const canopen::MotorBase::OperationMode &m)
Static Public Member Functions
static double *	assignVariable (const std::string &name, double *ptr, const std::string &req)
Private Types
typedef boost::unordered_map < canopen::MotorBase::OperationMode, hardware_interface::JointHandle * >	CommandMap
Private Member Functions
template<typename T >
hardware_interface::JointHandle *	addHandle (T &iface, hardware_interface::JointHandle *jh, const std::vector< canopen::MotorBase::OperationMode > &modes)
virtual void	handleDiag (canopen::LayerReport &report)
virtual void	handleHalt (canopen::LayerStatus &status)
virtual void	handleInit (canopen::LayerStatus &status)
virtual void	handleRead (canopen::LayerStatus &status, const LayerState &current_state)
virtual void	handleRecover (canopen::LayerStatus &status)
virtual void	handleShutdown (canopen::LayerStatus &status)
virtual void	handleWrite (canopen::LayerStatus &status, const LayerState &current_state)
bool	select (const canopen::MotorBase::OperationMode &m)
Private Attributes
double	cmd_eff_
double	cmd_pos_
double	cmd_vel_
CommandMap	commands_
boost::scoped_ptr< UnitConverter >	conv_eff_
boost::scoped_ptr< UnitConverter >	conv_pos_
boost::scoped_ptr< UnitConverter >	conv_target_eff_
boost::scoped_ptr< UnitConverter >	conv_target_pos_
boost::scoped_ptr< UnitConverter >	conv_target_vel_
boost::scoped_ptr< UnitConverter >	conv_vel_
double	eff_
bool	enable_limits_
filters::FilterChain< double >	filter_eff_
filters::FilterChain< double >	filter_pos_
filters::FilterChain< double >	filter_vel_
boost::atomic< bool >	forward_command_
hardware_interface::JointHandle	jeh_
boost::atomic < hardware_interface::JointHandle * >	jh_
hardware_interface::JointHandle	jph_
hardware_interface::JointStateHandle	jsh_
hardware_interface::JointHandle	jvh_
std::vector < LimitsHandleBase::Ptr >	limits_
boost::shared_ptr < canopen::MotorBase >	motor_
XmlRpc::XmlRpcValue	options_
double	pos_
ObjectVariables	variables_
double	vel_

Detailed Description

Definition at line 129 of file robot_layer.h.

Member Typedef Documentation

typedef boost::unordered_map< canopen::MotorBase::OperationMode,hardware_interface::JointHandle* > HandleLayer::CommandMap [private]

Definition at line 147 of file robot_layer.h.

Member Enumeration Documentation

enum HandleLayer::CanSwitchResult

Enumerator:

NotSupported
NotReadyToSwitch
ReadyToSwitch
NoNeedToSwitch

Definition at line 176 of file robot_layer.h.

Constructor & Destructor Documentation

HandleLayer::HandleLayer	(	const std::string &	name,
		const boost::shared_ptr< canopen::MotorBase > &	motor,
		const boost::shared_ptr< canopen::ObjectStorage >	storage,
		XmlRpc::XmlRpcValue &	options
	)

Definition at line 70 of file robot_layer.cpp.

Member Function Documentation

template<typename T >

hardware_interface::JointHandle* HandleLayer::addHandle	(	T &	iface,
		hardware_interface::JointHandle *	jh,
		const std::vector< canopen::MotorBase::OperationMode > &	modes
	)		`[inline, private]`

Definition at line 150 of file robot_layer.h.

static double* HandleLayer::assignVariable	(	const std::string &	name,
		double *	ptr,
		const std::string &	req
	)		`[inline, static]`

Definition at line 174 of file robot_layer.h.

HandleLayer::CanSwitchResult HandleLayer::canSwitch ( const canopen::MotorBase::OperationMode & m )

Definition at line 103 of file robot_layer.cpp.

void HandleLayer::enableLimits ( bool enable )

Definition at line 289 of file robot_layer.cpp.

void HandleLayer::enforceLimits	(	const ros::Duration &	period,
		bool	reset
	)

Definition at line 282 of file robot_layer.cpp.

bool HandleLayer::forwardForMode ( const canopen::MotorBase::OperationMode & m )

Definition at line 129 of file robot_layer.cpp.

virtual void HandleLayer::handleDiag ( canopen::LayerReport & report ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 209 of file robot_layer.h.

virtual void HandleLayer::handleHalt ( canopen::LayerStatus & status ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 211 of file robot_layer.h.

void HandleLayer::handleInit ( canopen::LayerStatus & status ) [private, virtual]

Implements canopen::Layer.

Definition at line 266 of file robot_layer.cpp.

void HandleLayer::handleRead	(	canopen::LayerStatus &	status,
		const LayerState &	current_state
	)		`[private, virtual]`

Implements canopen::Layer.

Definition at line 214 of file robot_layer.cpp.

virtual void HandleLayer::handleRecover ( canopen::LayerStatus & status ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 212 of file robot_layer.h.

virtual void HandleLayer::handleShutdown ( canopen::LayerStatus & status ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 210 of file robot_layer.h.

void HandleLayer::handleWrite	(	canopen::LayerStatus &	status,
		const LayerState &	current_state
	)		`[private, virtual]`

Implements canopen::Layer.

Definition at line 222 of file robot_layer.cpp.

bool HandleLayer::prepareFilters ( canopen::LayerStatus & status )

Definition at line 260 of file robot_layer.cpp.

void HandleLayer::registerHandle ( hardware_interface::JointStateInterface & iface ) [inline]

Definition at line 187 of file robot_layer.h.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::PositionJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)

Definition at line 175 of file robot_layer.cpp.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::VelocityJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)

Definition at line 188 of file robot_layer.cpp.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::EffortJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)