canopen::HandleLayerBase Class Reference

#include <handle_layer_base.h>

Inheritance diagram for canopen::HandleLayerBase:

List of all members.

Public Types
enum	CanSwitchResult { NotSupported, NotReadyToSwitch, ReadyToSwitch, NoNeedToSwitch }
Public Member Functions
virtual CanSwitchResult	canSwitch (const canopen::MotorBase::OperationMode &m)=0
virtual void	enableLimits (bool enable)=0
virtual void	enforceLimits (const ros::Duration &period, bool reset)=0
virtual bool	forwardForMode (const canopen::MotorBase::OperationMode &m)=0
	HandleLayerBase (const std::string &name)
virtual void	registerHandle (hardware_interface::JointStateInterface &iface)=0
virtual hardware_interface::JointHandle *	registerHandle (hardware_interface::PositionJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)=0
virtual hardware_interface::JointHandle *	registerHandle (hardware_interface::VelocityJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)=0
virtual hardware_interface::JointHandle *	registerHandle (hardware_interface::EffortJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)=0
virtual bool	switchMode (const canopen::MotorBase::OperationMode &m)=0

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Detailed Description

Definition at line 10 of file handle_layer_base.h.

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Member Enumeration Documentation

enum canopen::HandleLayerBase::CanSwitchResult

Enumerator:

NotSupported
NotReadyToSwitch
ReadyToSwitch
NoNeedToSwitch

Definition at line 14 of file handle_layer_base.h.

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Constructor & Destructor Documentation

canopen::HandleLayerBase::HandleLayerBase

(

const std::string &

name

)

[inline]

Definition at line 12 of file handle_layer_base.h.

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Member Function Documentation

virtual CanSwitchResult canopen::HandleLayerBase::canSwitch

(

const canopen::MotorBase::OperationMode &

m

)

[pure virtual]

Implemented in canopen::HandleLayer.

virtual void canopen::HandleLayerBase::enableLimits

(

bool

enable

)

[pure virtual]

Implemented in canopen::HandleLayer.

virtual void canopen::HandleLayerBase::enforceLimits	(	const ros::Duration &	period,
		bool	reset
	)		[pure virtual]

Implemented in canopen::HandleLayer.

virtual bool canopen::HandleLayerBase::forwardForMode

(

const canopen::MotorBase::OperationMode &

m

)

[pure virtual]

Implemented in canopen::HandleLayer.

virtual void canopen::HandleLayerBase::registerHandle

(

hardware_interface::JointStateInterface &

iface

)

[pure virtual]

Implemented in canopen::HandleLayer.

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

Implemented in canopen::HandleLayer.

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

Implemented in canopen::HandleLayer.

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

Implemented in canopen::HandleLayer.

virtual bool canopen::HandleLayerBase::switchMode

(

const canopen::MotorBase::OperationMode &

m

)

[pure virtual]

Implemented in canopen::HandleLayer.

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

• handle_layer_base.h