Public Member Functions | Public Attributes | Private Attributes
Armadillo2Robot Class Reference
Inheritance diagram for Armadillo2Robot:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 Armadillo2Robot (ros::NodeHandle &nh)
bool bulk_read_err ()
bool bulk_read_load ()
bool bulk_read_pos ()
bool bulk_read_vel ()
bool bulk_write ()
ros::Duration getPeriod ()
ros::Time getTime ()
void initSpecFile ()
bool ping (struct motor &motor)
int32_t rad_s2ticks_s (double rads, struct motor &motor)
int32_t rads2ticks (double rads, struct motor &motor)
void read ()
bool setTorque (struct motor &motor, bool onoff)
double ticks2rads (int32_t ticks, struct motor &motor)
double ticks_s2rad_s (int32_t ticks, struct motor &motor)
void write ()
 ~Armadillo2Robot ()

Public Attributes

robotican_hardware::RiCBoardManager _boardManager

Private Attributes

std::map< uint16_t,
dynamixel_spec
_modelSpec
ros::Time _time
int device_baudrate
std::string device_name
bool first
hardware_interface::PositionJointInterface jnt_pos_interface
hardware_interface::PosVelJointInterface jnt_posvel_interface
hardware_interface::JointStateInterface jnt_state_interface
hardware_interface::VelocityJointInterface jnt_vel_interface
std::vector< struct motormotors
int NUM_ARM_MOTORS
dynamixel::PacketHandlerpacketHandler
dynamixel::PortHandlerportHandler
std::vector
< hardware_interface::JointHandle
pos_handles
std::vector
< hardware_interface::PosVelJointHandle
posvel_handles
std::vector
< hardware_interface::JointStateHandle
state_handles
std::vector
< hardware_interface::JointHandle
vel_handles

Detailed Description

Definition at line 6 of file armadillo2_hardware_interface.cpp.


Constructor & Destructor Documentation

Definition at line 12 of file armadillo2_hardware_interface.cpp.

Definition at line 664 of file armadillo2_hardware_interface.cpp.


Member Function Documentation

bool Armadillo2Robot::bulk_read_err ( ) [inline]

Definition at line 443 of file armadillo2_hardware_interface.cpp.

Definition at line 606 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::bulk_read_pos ( ) [inline]

Definition at line 494 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::bulk_read_vel ( ) [inline]

Definition at line 554 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::bulk_write ( ) [inline]

Definition at line 362 of file armadillo2_hardware_interface.cpp.

Definition at line 744 of file armadillo2_hardware_interface.cpp.

Definition at line 740 of file armadillo2_hardware_interface.cpp.

void Armadillo2Robot::initSpecFile ( ) [inline]

Definition at line 752 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::ping ( struct motor motor) [inline]

Definition at line 306 of file armadillo2_hardware_interface.cpp.

int32_t Armadillo2Robot::rad_s2ticks_s ( double  rads,
struct motor motor 
) [inline]

Definition at line 285 of file armadillo2_hardware_interface.cpp.

int32_t Armadillo2Robot::rads2ticks ( double  rads,
struct motor motor 
) [inline]

Definition at line 264 of file armadillo2_hardware_interface.cpp.

void Armadillo2Robot::read ( ) [inline]

Definition at line 670 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::setTorque ( struct motor motor,
bool  onoff 
) [inline]

Definition at line 335 of file armadillo2_hardware_interface.cpp.

double Armadillo2Robot::ticks2rads ( int32_t  ticks,
struct motor motor 
) [inline]

Definition at line 242 of file armadillo2_hardware_interface.cpp.

double Armadillo2Robot::ticks_s2rad_s ( int32_t  ticks,
struct motor motor 
) [inline]

Definition at line 297 of file armadillo2_hardware_interface.cpp.

void Armadillo2Robot::write ( ) [inline]

Definition at line 714 of file armadillo2_hardware_interface.cpp.


Member Data Documentation

Definition at line 10 of file armadillo2_hardware_interface.cpp.

std::map<uint16_t, dynamixel_spec> Armadillo2Robot::_modelSpec [private]

Definition at line 806 of file armadillo2_hardware_interface.cpp.

Definition at line 790 of file armadillo2_hardware_interface.cpp.

Definition at line 810 of file armadillo2_hardware_interface.cpp.

Definition at line 809 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::first [private]

Definition at line 789 of file armadillo2_hardware_interface.cpp.

Definition at line 794 of file armadillo2_hardware_interface.cpp.

Definition at line 793 of file armadillo2_hardware_interface.cpp.

Definition at line 792 of file armadillo2_hardware_interface.cpp.

Definition at line 795 of file armadillo2_hardware_interface.cpp.

std::vector<struct motor> Armadillo2Robot::motors [private]

Definition at line 800 of file armadillo2_hardware_interface.cpp.

Definition at line 807 of file armadillo2_hardware_interface.cpp.

Definition at line 797 of file armadillo2_hardware_interface.cpp.

Definition at line 799 of file armadillo2_hardware_interface.cpp.

Definition at line 803 of file armadillo2_hardware_interface.cpp.

Definition at line 802 of file armadillo2_hardware_interface.cpp.

Definition at line 801 of file armadillo2_hardware_interface.cpp.

Definition at line 803 of file armadillo2_hardware_interface.cpp.


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


robotican_hardware_interface
Author(s):
autogenerated on Fri Oct 27 2017 03:02:48