denso_robot_control::DensoRobotHW Class Reference

#include <denso_robot_hw.h>

Inheritance diagram for denso_robot_control::DensoRobotHW:

List of all members.

Public Member Functions
	DensoRobotHW ()
ros::Duration	getPeriod () const
ros::Time	getTime () const
HRESULT	Initialize ()
void	read (ros::Time, ros::Duration)
void	write (ros::Time, ros::Duration)
virtual	~DensoRobotHW ()
Private Member Functions
void	Callback_ChangeMode (const Int32::ConstPtr &msg)
void	Callback_HandIO (const Int32::ConstPtr &msg)
void	Callback_MiniIO (const Int32::ConstPtr &msg)
void	Callback_RecvUserIO (const UserIO::ConstPtr &msg)
void	Callback_SendUserIO (const UserIO::ConstPtr &msg)
HRESULT	ChangeModeWithClearError (int mode)
HRESULT	CheckRobotType ()
Private Attributes
double	m_cmd [JOINT_MAX]
DensoController_Ptr	m_ctrl
double	m_eff [JOINT_MAX]
DensoRobotCore_Ptr	m_eng
hardware_interface::JointStateInterface	m_JntStInterface
std::vector< double >	m_joint
boost::mutex	m_mtxMode
double	m_pos [JOINT_MAX]
hardware_interface::PositionJointInterface	m_PosJntInterface
ros::Publisher	m_pubCurMode
ros::Publisher	m_pubCurrent
ros::Publisher	m_pubHandIO
ros::Publisher	m_pubMiniIO
ros::Publisher	m_pubRecvUserIO
int	m_recvfmt
DensoRobotRC8_Ptr	m_rob
int	m_robJoints
std::string	m_robName
int	m_sendfmt
ros::Subscriber	m_subChangeMode
ros::Subscriber	m_subHandIO
ros::Subscriber	m_subMiniIO
ros::Subscriber	m_subRecvUserIO
ros::Subscriber	m_subSendUserIO
int	m_type [JOINT_MAX]
DensoVariable_Ptr	m_varErr
double	m_vel [JOINT_MAX]

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Detailed Description

Definition at line 54 of file denso_robot_hw.h.

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Constructor & Destructor Documentation

denso_robot_control::DensoRobotHW::DensoRobotHW

(

)

Definition at line 38 of file denso_robot_hw.cpp.

denso_robot_control::DensoRobotHW::~DensoRobotHW

(

)

[virtual]

Definition at line 61 of file denso_robot_hw.cpp.

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Member Function Documentation

void denso_robot_control::DensoRobotHW::Callback_ChangeMode

(

const Int32::ConstPtr &

msg

)

[private]

Definition at line 280 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_HandIO

(

const Int32::ConstPtr &

msg

)

[private]

Definition at line 410 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_MiniIO

(

const Int32::ConstPtr &

msg

)

[private]

Definition at line 405 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_RecvUserIO

(

const UserIO::ConstPtr &

msg

)

[private]

Definition at line 420 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::Callback_SendUserIO

(

const UserIO::ConstPtr &

msg

)

[private]

Definition at line 415 of file denso_robot_hw.cpp.

HRESULT denso_robot_control::DensoRobotHW::ChangeModeWithClearError

(

int

mode

)

[private]

Definition at line 214 of file denso_robot_hw.cpp.

HRESULT denso_robot_control::DensoRobotHW::CheckRobotType

(

)

[private]

Definition at line 291 of file denso_robot_hw.cpp.

ros::Duration denso_robot_control::DensoRobotHW::getPeriod

(

)

const [inline]

Definition at line 67 of file denso_robot_hw.h.

ros::Time denso_robot_control::DensoRobotHW::getTime

(

)

const [inline]

Definition at line 62 of file denso_robot_hw.h.

HRESULT denso_robot_control::DensoRobotHW::Initialize

(

)

Definition at line 66 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::read	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 315 of file denso_robot_hw.cpp.

void denso_robot_control::DensoRobotHW::write	(	ros::Time	time,
		ros::Duration	period
	)

Definition at line 342 of file denso_robot_hw.cpp.

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Member Data Documentation

double denso_robot_control::DensoRobotHW::m_cmd[JOINT_MAX] [private]

Definition at line 89 of file denso_robot_hw.h.

DensoController_Ptr denso_robot_control::DensoRobotHW::m_ctrl [private]

Definition at line 97 of file denso_robot_hw.h.

double denso_robot_control::DensoRobotHW::m_eff[JOINT_MAX] [private]

Definition at line 92 of file denso_robot_hw.h.

DensoRobotCore_Ptr denso_robot_control::DensoRobotHW::m_eng [private]

Definition at line 96 of file denso_robot_hw.h.

hardware_interface::JointStateInterface denso_robot_control::DensoRobotHW::m_JntStInterface [private]

Definition at line 87 of file denso_robot_hw.h.

std::vector<double> denso_robot_control::DensoRobotHW::m_joint [private]

Definition at line 94 of file denso_robot_hw.h.

boost::mutex denso_robot_control::DensoRobotHW::m_mtxMode [private]

Definition at line 118 of file denso_robot_hw.h.

double denso_robot_control::DensoRobotHW::m_pos[JOINT_MAX] [private]

Definition at line 90 of file denso_robot_hw.h.

hardware_interface::PositionJointInterface denso_robot_control::DensoRobotHW::m_PosJntInterface [private]

Definition at line 88 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubCurMode [private]

Definition at line 112 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubCurrent [private]

Definition at line 116 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubHandIO [private]

Definition at line 114 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubMiniIO [private]

Definition at line 113 of file denso_robot_hw.h.

ros::Publisher denso_robot_control::DensoRobotHW::m_pubRecvUserIO [private]

Definition at line 115 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_recvfmt [private]

Definition at line 104 of file denso_robot_hw.h.

DensoRobotRC8_Ptr denso_robot_control::DensoRobotHW::m_rob [private]

Definition at line 98 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_robJoints [private]

Definition at line 102 of file denso_robot_hw.h.

std::string denso_robot_control::DensoRobotHW::m_robName [private]

Definition at line 101 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_sendfmt [private]

Definition at line 103 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subChangeMode [private]

Definition at line 106 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subHandIO [private]

Definition at line 108 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subMiniIO [private]

Definition at line 107 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subRecvUserIO [private]

Definition at line 110 of file denso_robot_hw.h.

ros::Subscriber denso_robot_control::DensoRobotHW::m_subSendUserIO [private]

Definition at line 109 of file denso_robot_hw.h.

int denso_robot_control::DensoRobotHW::m_type[JOINT_MAX] [private]

Definition at line 93 of file denso_robot_hw.h.

DensoVariable_Ptr denso_robot_control::DensoRobotHW::m_varErr [private]

Definition at line 99 of file denso_robot_hw.h.

double denso_robot_control::DensoRobotHW::m_vel[JOINT_MAX] [private]

Definition at line 91 of file denso_robot_hw.h.

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

• denso_robot_hw.h
• denso_robot_hw.cpp