Armadillo2Robot Class Reference

Inheritance diagram for Armadillo2Robot:

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 motor >	motors
int	NUM_ARM_MOTORS
dynamixel::PacketHandler *	packetHandler
dynamixel::PortHandler *	portHandler
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

Armadillo2Robot::Armadillo2Robot

(

ros::NodeHandle &

nh

)

[inline]

Definition at line 12 of file armadillo2_hardware_interface.cpp.

Armadillo2Robot::~Armadillo2Robot

(

)

[inline]

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.

bool Armadillo2Robot::bulk_read_load

(

)

[inline]

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.

ros::Duration Armadillo2Robot::getPeriod

(

)

[inline]

Definition at line 744 of file armadillo2_hardware_interface.cpp.

ros::Time Armadillo2Robot::getTime

(

)

[inline]

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

robotican_hardware::RiCBoardManager Armadillo2Robot::_boardManager

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.

ros::Time Armadillo2Robot::_time [private]

Definition at line 790 of file armadillo2_hardware_interface.cpp.

int Armadillo2Robot::device_baudrate [private]

Definition at line 810 of file armadillo2_hardware_interface.cpp.

std::string Armadillo2Robot::device_name [private]

Definition at line 809 of file armadillo2_hardware_interface.cpp.

bool Armadillo2Robot::first [private]

Definition at line 789 of file armadillo2_hardware_interface.cpp.

hardware_interface::PositionJointInterface Armadillo2Robot::jnt_pos_interface [private]

Definition at line 794 of file armadillo2_hardware_interface.cpp.

hardware_interface::PosVelJointInterface Armadillo2Robot::jnt_posvel_interface [private]

Definition at line 793 of file armadillo2_hardware_interface.cpp.

hardware_interface::JointStateInterface Armadillo2Robot::jnt_state_interface [private]

Definition at line 792 of file armadillo2_hardware_interface.cpp.

hardware_interface::VelocityJointInterface Armadillo2Robot::jnt_vel_interface [private]

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.

int Armadillo2Robot::NUM_ARM_MOTORS [private]

Definition at line 807 of file armadillo2_hardware_interface.cpp.

dynamixel::PacketHandler* Armadillo2Robot::packetHandler [private]

Definition at line 797 of file armadillo2_hardware_interface.cpp.

dynamixel::PortHandler* Armadillo2Robot::portHandler [private]

Definition at line 799 of file armadillo2_hardware_interface.cpp.

std::vector<hardware_interface::JointHandle> Armadillo2Robot::pos_handles [private]

Definition at line 803 of file armadillo2_hardware_interface.cpp.

std::vector<hardware_interface::PosVelJointHandle> Armadillo2Robot::posvel_handles [private]

Definition at line 802 of file armadillo2_hardware_interface.cpp.

std::vector<hardware_interface::JointStateHandle> Armadillo2Robot::state_handles [private]

Definition at line 801 of file armadillo2_hardware_interface.cpp.

std::vector<hardware_interface::JointHandle> Armadillo2Robot::vel_handles [private]

Definition at line 803 of file armadillo2_hardware_interface.cpp.

---

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

• armadillo2_hardware_interface.cpp