denso_robot_core::DensoRobot Class Reference

#include <denso_robot.h>

Inheritance diagram for denso_robot_core::DensoRobot:

Public Member Functions
HRESULT	AddVariable (const std::string &name)
void	ChangeArmGroup (int number)
	DensoRobot (DensoBase *parent, Service_Vec &service, Handle_Vec &handle, const std::string &name, const int *mode)
virtual HRESULT	ExecGiveArm ()=0
virtual HRESULT	ExecTakeArm ()=0
HRESULT	get_Variable (const std::string &name, DensoVariable_Ptr *var)
virtual HRESULT	InitializeBCAP (XMLElement *xmlElem)
virtual HRESULT	StartService (ros::NodeHandle &node)
virtual HRESULT	StopService ()
virtual bool	Update ()
virtual	~DensoRobot ()
Public Member Functions inherited from denso_robot_core::DensoBase
	DensoBase (const std::string &name, const int *mode)
	DensoBase (DensoBase *parent, Service_Vec &service, Handle_Vec &handle, const std::string &name, const int *mode)
virtual HRESULT	InitializeBCAP ()
const std::string &	Name () const
std::string	RosName () const
virtual HRESULT	TerminateBCAP ()
virtual	~DensoBase ()

Protected Member Functions
virtual HRESULT	AddVariable (XMLElement *xmlElem)
void	Callback_ArmGroup (const Int32::ConstPtr &msg)
HRESULT	CreateExJoints (const ExJoints &exjoints, VARIANT &vnt)
HRESULT	CreatePoseData (const PoseData &pose, VARIANT &vnt)
Protected Member Functions inherited from denso_robot_core::DensoBase
HRESULT	AddObject (int32_t get_id, const std::string &name, Handle_Vec &vecHandle)
HRESULT	AddVariable (int32_t get_id, const std::string &name, std::vector< boost::shared_ptr< class DensoVariable > > &vecVar, int16_t vt=VT_EMPTY, bool bRead=false, bool bWrite=false, bool bID=false, int iDuration=BCAP_VAR_DEFAULT_DURATION)
HRESULT	AddVariable (int32_t get_id, const XMLElement *xmlVar, std::vector< boost::shared_ptr< class DensoVariable > > &vecVar)
HRESULT	get_Object (const std::vector< boost::shared_ptr< DensoBase > > &vecBase, int index, boost::shared_ptr< DensoBase > *obj)
HRESULT	get_Object (const std::vector< boost::shared_ptr< DensoBase > > &vecBase, const std::string &name, boost::shared_ptr< DensoBase > *obj)
HRESULT	GetObjectNames (int32_t func_id, Name_Vec &vecName)

Protected Attributes
int32_t	m_ArmGroup
ros::Subscriber	m_subArmGroup
DensoVariable_Vec	m_vecVar
Protected Attributes inherited from denso_robot_core::DensoBase
const int *	m_mode
boost::mutex	m_mtxSrv
std::string	m_name
DensoBase *	m_parent
bool	m_serving
Handle_Vec	m_vecHandle
Service_Vec	m_vecService

Additional Inherited Members
Public Types inherited from denso_robot_core::DensoBase
enum	{ SRV_MIN = 0, SRV_ACT = SRV_MIN, SRV_WATCH, SRV_MAX = SRV_WATCH }
Static Public Member Functions inherited from denso_robot_core::DensoBase
static std::string	ConvertBSTRToString (const BSTR bstr)
static BSTR	ConvertStringToBSTR (const std::string &str)

Detailed Description

Definition at line 35 of file denso_robot.h.

Constructor & Destructor Documentation

denso_robot_core::DensoRobot::DensoRobot	(	DensoBase *	parent,
		Service_Vec &	service,
		Handle_Vec &	handle,
		const std::string &	name,
		const int *	mode
	)

Definition at line 31 of file denso_robot.cpp.

denso_robot_core::DensoRobot::~DensoRobot ( )

virtual

Definition at line 40 of file denso_robot.cpp.

Member Function Documentation

HRESULT denso_robot_core::DensoRobot::AddVariable

(

const std::string &

name

)

Definition at line 136 of file denso_robot.cpp.

HRESULT denso_robot_core::DensoRobot::AddVariable ( XMLElement *  xmlElem )

protectedvirtual

Definition at line 142 of file denso_robot.cpp.

void denso_robot_core::DensoRobot::Callback_ArmGroup ( const Int32::ConstPtr &  msg )

protected

Definition at line 113 of file denso_robot.cpp.

void denso_robot_core::DensoRobot::ChangeArmGroup

(

int

number

)

Definition at line 108 of file denso_robot.cpp.

HRESULT denso_robot_core::DensoRobot::CreateExJoints ( const ExJoints &  exjoints, VARIANT &  vnt  )

protected

Definition at line 201 of file denso_robot.cpp.

HRESULT denso_robot_core::DensoRobot::CreatePoseData ( const PoseData &  pose, VARIANT &  vnt  )

protected

Definition at line 159 of file denso_robot.cpp.

virtual HRESULT denso_robot_core::DensoRobot::ExecGiveArm ( )

pure virtual

Implemented in denso_robot_core::DensoRobotRC8.

virtual HRESULT denso_robot_core::DensoRobot::ExecTakeArm ( )

pure virtual

Implemented in denso_robot_core::DensoRobotRC8.

HRESULT denso_robot_core::DensoRobot::get_Variable	(	const std::string &	name,
		DensoVariable_Ptr *	var
	)

Definition at line 118 of file denso_robot.cpp.

HRESULT denso_robot_core::DensoRobot::InitializeBCAP ( XMLElement *  xmlElem )

virtual

Definition at line 45 of file denso_robot.cpp.

HRESULT denso_robot_core::DensoRobot::StartService ( ros::NodeHandle &  node )

virtual

Implements denso_robot_core::DensoBase.

Reimplemented in denso_robot_core::DensoRobotRC8.

Definition at line 50 of file denso_robot.cpp.

HRESULT denso_robot_core::DensoRobot::StopService ( )

virtual

Reimplemented from denso_robot_core::DensoBase.

Reimplemented in denso_robot_core::DensoRobotRC8.

Definition at line 73 of file denso_robot.cpp.

bool denso_robot_core::DensoRobot::Update ( )

virtual

Reimplemented from denso_robot_core::DensoBase.

Reimplemented in denso_robot_core::DensoRobotRC8.

Definition at line 92 of file denso_robot.cpp.

Member Data Documentation

int32_t denso_robot_core::DensoRobot::m_ArmGroup

protected

Definition at line 76 of file denso_robot.h.

ros::Subscriber denso_robot_core::DensoRobot::m_subArmGroup

protected

Definition at line 77 of file denso_robot.h.

DensoVariable_Vec denso_robot_core::DensoRobot::m_vecVar

protected

Definition at line 74 of file denso_robot.h.

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

• denso_robot.h
• denso_robot.cpp