Public Member Functions | Protected Attributes
cob_gazebo_ros_control::HWISwitchRobotHWSim Class Reference

#include <hwi_switch_robot_hw_sim.h>

Inheritance diagram for cob_gazebo_ros_control::HWISwitchRobotHWSim:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual bool canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
virtual void doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual bool enableJointFiltering (ros::NodeHandle nh, std::string filter_joints_param)
virtual bool initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)
virtual void stateValid (const bool active)

Protected Attributes

bool enable_joint_filtering_
std::set< std::string > enabled_joints_
std::map< std::string,
ControlMethod
map_hwinterface_to_controlmethod_
std::map< std::string,
std::set< std::string > > 
map_hwinterface_to_joints_
std::set< std::string > position_joints_
bool state_valid_

Detailed Description

Definition at line 29 of file hwi_switch_robot_hw_sim.h.


Member Function Documentation

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::canSwitch ( const std::list< hardware_interface::ControllerInfo > &  start_list,
const std::list< hardware_interface::ControllerInfo > &  stop_list 
) const [virtual]

Reimplemented from hardware_interface::RobotHW.

Definition at line 285 of file hwi_switch_robot_hw_sim.cpp.

void cob_gazebo_ros_control::HWISwitchRobotHWSim::doSwitch ( const std::list< hardware_interface::ControllerInfo > &  start_list,
const std::list< hardware_interface::ControllerInfo > &  stop_list 
) [virtual]

semantic Zero

call setCommand once so that the JointLimitsInterface receive the correct value on their getCommand()!

reset joint_limit_interfaces

Reimplemented from hardware_interface::RobotHW.

Definition at line 304 of file hwi_switch_robot_hw_sim.cpp.

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::enableJointFiltering ( ros::NodeHandle  nh,
std::string  filter_joints_param 
) [virtual]

Definition at line 264 of file hwi_switch_robot_hw_sim.cpp.

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::initSim ( const std::string &  robot_namespace,
ros::NodeHandle  model_nh,
gazebo::physics::ModelPtr  parent_model,
const urdf::Model *const  urdf_model,
std::vector< transmission_interface::TransmissionInfo transmissions 
) [virtual]

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 25 of file hwi_switch_robot_hw_sim.cpp.

void cob_gazebo_ros_control::HWISwitchRobotHWSim::stateValid ( const bool  active) [virtual]

Definition at line 345 of file hwi_switch_robot_hw_sim.cpp.


Member Data Documentation

Definition at line 49 of file hwi_switch_robot_hw_sim.h.

Definition at line 50 of file hwi_switch_robot_hw_sim.h.

Definition at line 54 of file hwi_switch_robot_hw_sim.h.

std::map< std::string, std::set<std::string> > cob_gazebo_ros_control::HWISwitchRobotHWSim::map_hwinterface_to_joints_ [protected]

Definition at line 53 of file hwi_switch_robot_hw_sim.h.

Definition at line 52 of file hwi_switch_robot_hw_sim.h.

Definition at line 56 of file hwi_switch_robot_hw_sim.h.


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


cob_gazebo_ros_control
Author(s): Felix Messmer
autogenerated on Thu Jun 6 2019 20:53:57