#include <analogue_to_position.hpp>
Public Member Functions | |
| AnalogueToPosition (TiXmlElement *mapping_el, ros_ethercat_model::RobotState *robot) | |
| virtual void | propagateFromRonex (ros_ethercat_model::JointState *js) |
| virtual void | propagateToRonex (ros_ethercat_model::JointState *js) |
Protected Member Functions | |
| bool | check_pin_in_bound_ () |
| double | compute_scaled_data_ () |
| virtual bool | try_init_cb_ (const ros::TimerEvent &, TiXmlElement *mapping_el, ros_ethercat_model::RobotState *robot, const char *ronex_name) |
Protected Attributes | |
| GeneralIO * | general_io_ |
| Pointer to the GeneralIO module we specified in the transmission. | |
| double | offset_ |
| size_t | pin_index_ |
| index of the analogue pin | |
| bool | pin_out_of_bound_ |
| Is the pin inside the correct range? | |
| double | scale_ |
| The user can apply a scaling and offset to the raw data. | |
Detailed Description
Definition at line 37 of file analogue_to_position.hpp.
Constructor & Destructor Documentation
| ronex::mapping::general_io::AnalogueToPosition::AnalogueToPosition | ( | TiXmlElement * | mapping_el, |
| ros_ethercat_model::RobotState * | robot | ||
| ) |
Definition at line 34 of file analogue_to_position.cpp.
Member Function Documentation
| bool ronex::mapping::general_io::AnalogueToPosition::check_pin_in_bound_ | ( | ) | [protected] |
Check whether the pin is in the correct range.
- Returns:
- true if the pin is in the correct range
Definition at line 139 of file analogue_to_position.cpp.
| double ronex::mapping::general_io::AnalogueToPosition::compute_scaled_data_ | ( | ) | [protected] |
Computes the scaled data from the raw value.
- Returns:
- scaled data
Definition at line 168 of file analogue_to_position.cpp.
| void ronex::mapping::general_io::AnalogueToPosition::propagateFromRonex | ( | ros_ethercat_model::JointState * | js | ) | [virtual] |
Propagating the specified analogue pin data to the given joint position.
- Parameters:
-
js joint_state of the joint specified in the transmission
Implements ronex::RonexMapping.
Reimplemented in ronex::mapping::general_io::AnalogueToEffort.
Definition at line 128 of file analogue_to_position.cpp.
| virtual void ronex::mapping::general_io::AnalogueToPosition::propagateToRonex | ( | ros_ethercat_model::JointState * | js | ) | [inline, virtual] |
This function is not doing anything as we're not propagating a command in this mapping.
Implements ronex::RonexMapping.
Definition at line 53 of file analogue_to_position.hpp.
| bool ronex::mapping::general_io::AnalogueToPosition::try_init_cb_ | ( | const ros::TimerEvent & | , |
| TiXmlElement * | mapping_el, | ||
| ros_ethercat_model::RobotState * | robot, | ||
| const char * | ronex_name | ||
| ) | [protected, virtual] |
Timer callback for the transmission initialization. Stops the init_timer_ when the initialization is successful.
Implements ronex::RonexMapping.
Definition at line 49 of file analogue_to_position.cpp.
Member Data Documentation
Pointer to the GeneralIO module we specified in the transmission.
Definition at line 57 of file analogue_to_position.hpp.
double ronex::mapping::general_io::AnalogueToPosition::offset_ [protected] |
Definition at line 64 of file analogue_to_position.hpp.
size_t ronex::mapping::general_io::AnalogueToPosition::pin_index_ [protected] |
index of the analogue pin
Definition at line 59 of file analogue_to_position.hpp.
bool ronex::mapping::general_io::AnalogueToPosition::pin_out_of_bound_ [protected] |
Is the pin inside the correct range?
Definition at line 61 of file analogue_to_position.hpp.
double ronex::mapping::general_io::AnalogueToPosition::scale_ [protected] |
The user can apply a scaling and offset to the raw data.
Definition at line 64 of file analogue_to_position.hpp.
The documentation for this class was generated from the following files: