rrbot_hw_interface.cpp
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00034 
00035 /* Author: Dave Coleman
00036    Desc:   Example ros_control hardware interface blank template for the RRBot
00037            For a more detailed simulation example, see sim_hw_interface.cpp
00038 */
00039 
00040 #include <rrbot_control/rrbot_hw_interface.h>
00041 
00042 namespace rrbot_control
00043 {
00044 
00045 RRBotHWInterface::RRBotHWInterface(ros::NodeHandle &nh, urdf::Model *urdf_model)
00046   : ros_control_boilerplate::GenericHWInterface(nh, urdf_model)
00047 {
00048   ROS_INFO_NAMED("rrbot_hw_interface", "RRBotHWInterface Ready.");
00049 }
00050 
00051 void RRBotHWInterface::read(ros::Duration &elapsed_time)
00052 {
00053   // ----------------------------------------------------
00054   // ----------------------------------------------------
00055   // ----------------------------------------------------
00056   //
00057   // FILL IN YOUR READ COMMAND FROM USB/ETHERNET/ETHERCAT/SERIAL ETC HERE
00058   //
00059   // ----------------------------------------------------
00060   // ----------------------------------------------------
00061   // ----------------------------------------------------
00062 }
00063 
00064 void RRBotHWInterface::write(ros::Duration &elapsed_time)
00065 {
00066   // Safety
00067   enforceLimits(elapsed_time);
00068 
00069   // ----------------------------------------------------
00070   // ----------------------------------------------------
00071   // ----------------------------------------------------
00072   //
00073   // FILL IN YOUR WRITE COMMAND TO USB/ETHERNET/ETHERCAT/SERIAL ETC HERE
00074   //
00075   // FOR A EASY SIMULATION EXAMPLE, OR FOR CODE TO CALCULATE
00076   // VELOCITY FROM POSITION WITH SMOOTHING, SEE
00077   // sim_hw_interface.cpp IN THIS PACKAGE
00078   //
00079   // DUMMY PASS-THROUGH CODE
00080   for (std::size_t joint_id = 0; joint_id < num_joints_; ++joint_id)
00081     joint_position_[joint_id] += joint_position_command_[joint_id];
00082   // END DUMMY CODE
00083   //
00084   // ----------------------------------------------------
00085   // ----------------------------------------------------
00086   // ----------------------------------------------------
00087 }
00088 
00089 void RRBotHWInterface::enforceLimits(ros::Duration &period)
00090 {
00091   // ----------------------------------------------------
00092   // ----------------------------------------------------
00093   // ----------------------------------------------------
00094   //
00095   // CHOOSE THE TYPE OF JOINT LIMITS INTERFACE YOU WANT TO USE
00096   // YOU SHOULD ONLY NEED TO USE ONE SATURATION INTERFACE,
00097   // DEPENDING ON YOUR CONTROL METHOD
00098   //
00099   // EXAMPLES:
00100   //
00101   // Saturation Limits ---------------------------
00102   //
00103   // Enforces position and velocity
00104   pos_jnt_sat_interface_.enforceLimits(period);
00105   //
00106   // Enforces velocity and acceleration limits
00107   // vel_jnt_sat_interface_.enforceLimits(period);
00108   //
00109   // Enforces position, velocity, and effort
00110   // eff_jnt_sat_interface_.enforceLimits(period);
00111 
00112   // Soft limits ---------------------------------
00113   //
00114   // pos_jnt_soft_limits_.enforceLimits(period);
00115   // vel_jnt_soft_limits_.enforceLimits(period);
00116   // eff_jnt_soft_limits_.enforceLimits(period);
00117   //
00118   // ----------------------------------------------------
00119   // ----------------------------------------------------
00120   // ----------------------------------------------------
00121 }
00122 
00123 }  // namespace


ros_control_boilerplate
Author(s): Dave Coleman
autogenerated on Sun Apr 24 2016 04:39:29