ros_control_ur::UrHardwareInterface Class Reference

Hardware interface for a robot. More...

#include <ur_hardware_interface.h>

Inheritance diagram for ros_control_ur::UrHardwareInterface:

List of all members.

Public Member Functions
bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void	init ()
	Initialize the hardware interface.
virtual void	read ()
	Read the state from the robot hardware.
void	setMaxVelChange (double inp)
	UrHardwareInterface (ros::NodeHandle &nh, UrDriver *robot)
	Constructor.
virtual void	write ()
	write the command to the robot hardware.
Protected Attributes
hardware_interface::ForceTorqueSensorInterface	force_torque_interface_
std::vector< double >	joint_effort_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
hardware_interface::JointStateInterface	joint_state_interface_
std::vector< double >	joint_velocity_
std::vector< double >	joint_velocity_command_
double	max_vel_change_
ros::NodeHandle	nh_
std::size_t	num_joints_
bool	position_interface_running_
hardware_interface::PositionJointInterface	position_joint_interface_
std::vector< double >	prev_joint_velocity_command_
UrDriver *	robot_
double	robot_force_ [3] = { 0., 0., 0. }
double	robot_torque_ [3] = { 0., 0., 0. }
bool	velocity_interface_running_
hardware_interface::VelocityJointInterface	velocity_joint_interface_

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Detailed Description

Hardware interface for a robot.

Definition at line 79 of file ur_hardware_interface.h.

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Constructor & Destructor Documentation

ros_control_ur::UrHardwareInterface::UrHardwareInterface	(	ros::NodeHandle &	nh,
		UrDriver *	robot
	)

Constructor.

Parameters:

nh	- Node handle for topics.

Definition at line 62 of file ur_hardware_interface.cpp.

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Member Function Documentation

bool ros_control_ur::UrHardwareInterface::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 174 of file ur_hardware_interface.cpp.

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

Reimplemented from hardware_interface::RobotHW.

Definition at line 245 of file ur_hardware_interface.cpp.

void ros_control_ur::UrHardwareInterface::init

(

)

[virtual]

Initialize the hardware interface.

Definition at line 72 of file ur_hardware_interface.cpp.

void ros_control_ur::UrHardwareInterface::read

(

)

[virtual]

Read the state from the robot hardware.

Definition at line 131 of file ur_hardware_interface.cpp.

void ros_control_ur::UrHardwareInterface::setMaxVelChange

(

double

inp

)

Definition at line 149 of file ur_hardware_interface.cpp.

void ros_control_ur::UrHardwareInterface::write

(

)

[virtual]

write the command to the robot hardware.

Definition at line 153 of file ur_hardware_interface.cpp.

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Member Data Documentation

hardware_interface::ForceTorqueSensorInterface ros_control_ur::UrHardwareInterface::force_torque_interface_ [protected]

Definition at line 112 of file ur_hardware_interface.h.

std::vector<double> ros_control_ur::UrHardwareInterface::joint_effort_ [protected]

Definition at line 121 of file ur_hardware_interface.h.

std::vector<std::string> ros_control_ur::UrHardwareInterface::joint_names_ [protected]

Definition at line 118 of file ur_hardware_interface.h.

std::vector<double> ros_control_ur::UrHardwareInterface::joint_position_ [protected]

Definition at line 119 of file ur_hardware_interface.h.

std::vector<double> ros_control_ur::UrHardwareInterface::joint_position_command_ [protected]

Definition at line 122 of file ur_hardware_interface.h.

hardware_interface::JointStateInterface ros_control_ur::UrHardwareInterface::joint_state_interface_ [protected]

Definition at line 111 of file ur_hardware_interface.h.

std::vector<double> ros_control_ur::UrHardwareInterface::joint_velocity_ [protected]

Definition at line 120 of file ur_hardware_interface.h.

std::vector<double> ros_control_ur::UrHardwareInterface::joint_velocity_command_ [protected]

Definition at line 123 of file ur_hardware_interface.h.

double ros_control_ur::UrHardwareInterface::max_vel_change_ [protected]

Definition at line 129 of file ur_hardware_interface.h.

ros::NodeHandle ros_control_ur::UrHardwareInterface::nh_ [protected]

Definition at line 108 of file ur_hardware_interface.h.

std::size_t ros_control_ur::UrHardwareInterface::num_joints_ [protected]

Definition at line 125 of file ur_hardware_interface.h.

bool ros_control_ur::UrHardwareInterface::position_interface_running_ [protected]

Definition at line 116 of file ur_hardware_interface.h.

hardware_interface::PositionJointInterface ros_control_ur::UrHardwareInterface::position_joint_interface_ [protected]

Definition at line 113 of file ur_hardware_interface.h.

std::vector<double> ros_control_ur::UrHardwareInterface::prev_joint_velocity_command_ [protected]

Definition at line 124 of file ur_hardware_interface.h.

UrDriver* ros_control_ur::UrHardwareInterface::robot_ [protected]

Definition at line 132 of file ur_hardware_interface.h.

double ros_control_ur::UrHardwareInterface::robot_force_[3] = { 0., 0., 0. } [protected]

Definition at line 126 of file ur_hardware_interface.h.

double ros_control_ur::UrHardwareInterface::robot_torque_[3] = { 0., 0., 0. } [protected]

Definition at line 127 of file ur_hardware_interface.h.

bool ros_control_ur::UrHardwareInterface::velocity_interface_running_ [protected]

Definition at line 115 of file ur_hardware_interface.h.

hardware_interface::VelocityJointInterface ros_control_ur::UrHardwareInterface::velocity_joint_interface_ [protected]

Definition at line 114 of file ur_hardware_interface.h.

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

• ur_hardware_interface.h
• ur_hardware_interface.cpp