#include <handle_layer.h>

Inheritance diagram for canopen::HandleLayer:

Public Member Functions
CanSwitchResult	canSwitch (const canopen::MotorBase::OperationMode &m)
void	enableLimits (bool enable)
void	enforceLimits (const ros::Duration &period, bool reset)
bool	forwardForMode (const canopen::MotorBase::OperationMode &m)
	HandleLayer (const std::string &name, const boost::shared_ptr< canopen::MotorBase > &motor, const boost::shared_ptr< canopen::ObjectStorage > storage, XmlRpc::XmlRpcValue &options)
bool	prepareFilters (canopen::LayerStatus &status)
void	registerHandle (hardware_interface::JointStateInterface &iface)
hardware_interface::JointHandle *	registerHandle (hardware_interface::PositionJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)
hardware_interface::JointHandle *	registerHandle (hardware_interface::VelocityJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)
hardware_interface::JointHandle *	registerHandle (hardware_interface::EffortJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)
bool	switchMode (const canopen::MotorBase::OperationMode &m)
Static Public Member Functions
static double *	assignVariable (const std::string &name, double *ptr, const std::string &req)
Private Types
typedef boost::unordered_map < MotorBase::OperationMode, hardware_interface::JointHandle * >	CommandMap
Private Member Functions
template<typename T >
hardware_interface::JointHandle *	addHandle (T &iface, hardware_interface::JointHandle *jh, const std::vector< MotorBase::OperationMode > &modes)
virtual void	handleDiag (canopen::LayerReport &report)
virtual void	handleHalt (canopen::LayerStatus &status)
virtual void	handleInit (canopen::LayerStatus &status)
virtual void	handleRead (canopen::LayerStatus &status, const LayerState &current_state)
virtual void	handleRecover (canopen::LayerStatus &status)
virtual void	handleShutdown (canopen::LayerStatus &status)
virtual void	handleWrite (canopen::LayerStatus &status, const LayerState &current_state)
bool	select (const canopen::MotorBase::OperationMode &m)
Private Attributes
double	cmd_eff_
double	cmd_pos_
double	cmd_vel_
CommandMap	commands_
boost::scoped_ptr< UnitConverter >	conv_eff_
boost::scoped_ptr< UnitConverter >	conv_pos_
boost::scoped_ptr< UnitConverter >	conv_target_eff_
boost::scoped_ptr< UnitConverter >	conv_target_pos_
boost::scoped_ptr< UnitConverter >	conv_target_vel_
boost::scoped_ptr< UnitConverter >	conv_vel_
double	eff_
bool	enable_limits_
filters::FilterChain< double >	filter_eff_
filters::FilterChain< double >	filter_pos_
filters::FilterChain< double >	filter_vel_
boost::atomic< bool >	forward_command_
hardware_interface::JointHandle	jeh_
boost::atomic < hardware_interface::JointHandle * >	jh_
hardware_interface::JointHandle	jph_
hardware_interface::JointStateHandle	jsh_
hardware_interface::JointHandle	jvh_
std::vector < LimitsHandleBase::Ptr >	limits_
boost::shared_ptr < canopen::MotorBase >	motor_
XmlRpc::XmlRpcValue	options_
double	pos_
ObjectVariables	variables_
double	vel_

Detailed Description

Definition at line 84 of file handle_layer.h.

Member Typedef Documentation

typedef boost::unordered_map< MotorBase::OperationMode,hardware_interface::JointHandle* > canopen::HandleLayer::CommandMap [private]

Definition at line 102 of file handle_layer.h.

Constructor & Destructor Documentation

HandleLayer::HandleLayer	(	const std::string &	name,
		const boost::shared_ptr< canopen::MotorBase > &	motor,
		const boost::shared_ptr< canopen::ObjectStorage >	storage,
		XmlRpc::XmlRpcValue &	options
	)

Definition at line 26 of file handle_layer.cpp.

Member Function Documentation

template<typename T >

hardware_interface::JointHandle* canopen::HandleLayer::addHandle	(	T &	iface,
		hardware_interface::JointHandle *	jh,
		const std::vector< MotorBase::OperationMode > &	modes
	)		`[inline, private]`

Definition at line 105 of file handle_layer.h.

static double* canopen::HandleLayer::assignVariable	(	const std::string &	name,
		double *	ptr,
		const std::string &	req
	)		`[inline, static]`

Definition at line 129 of file handle_layer.h.

HandleLayer::CanSwitchResult HandleLayer::canSwitch ( const canopen::MotorBase::OperationMode & m ) [virtual]

Implements canopen::HandleLayerBase.

Definition at line 59 of file handle_layer.cpp.

void HandleLayer::enableLimits ( bool enable ) [virtual]

Implements canopen::HandleLayerBase.

Definition at line 212 of file handle_layer.cpp.

void HandleLayer::enforceLimits	(	const ros::Duration &	period,
		bool	reset
	)		`[virtual]`

Implements canopen::HandleLayerBase.

Definition at line 205 of file handle_layer.cpp.

bool HandleLayer::forwardForMode ( const canopen::MotorBase::OperationMode & m ) [virtual]

Implements canopen::HandleLayerBase.

Definition at line 85 of file handle_layer.cpp.

virtual void canopen::HandleLayer::handleDiag ( canopen::LayerReport & report ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 157 of file handle_layer.h.

virtual void canopen::HandleLayer::handleHalt ( canopen::LayerStatus & status ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 159 of file handle_layer.h.

void HandleLayer::handleInit ( canopen::LayerStatus & status ) [private, virtual]

Implements canopen::Layer.

Definition at line 189 of file handle_layer.cpp.

void HandleLayer::handleRead	(	canopen::LayerStatus &	status,
		const LayerState &	current_state
	)		`[private, virtual]`

Implements canopen::Layer.

Definition at line 137 of file handle_layer.cpp.

virtual void canopen::HandleLayer::handleRecover ( canopen::LayerStatus & status ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 160 of file handle_layer.h.

virtual void canopen::HandleLayer::handleShutdown ( canopen::LayerStatus & status ) [inline, private, virtual]

Implements canopen::Layer.

Definition at line 158 of file handle_layer.h.

void HandleLayer::handleWrite	(	canopen::LayerStatus &	status,
		const LayerState &	current_state
	)		`[private, virtual]`

Implements canopen::Layer.

Definition at line 145 of file handle_layer.cpp.

bool HandleLayer::prepareFilters ( canopen::LayerStatus & status )

Definition at line 183 of file handle_layer.cpp.

void canopen::HandleLayer::registerHandle ( hardware_interface::JointStateInterface & iface ) [inline, virtual]

Implements canopen::HandleLayerBase.

Definition at line 135 of file handle_layer.h.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::PositionJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)		`[virtual]`

Implements canopen::HandleLayerBase.

Definition at line 98 of file handle_layer.cpp.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::VelocityJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)		`[virtual]`

Implements canopen::HandleLayerBase.

Definition at line 111 of file handle_layer.cpp.

hardware_interface::JointHandle * HandleLayer::registerHandle	(	hardware_interface::EffortJointInterface &	iface,
		const joint_limits_interface::JointLimits &	limits,
		const joint_limits_interface::SoftJointLimits *	soft_limits = `0`
	)		`[virtual]`