DensoRobotHW Class Reference

#include <denso_hardware_interface.h>

Inheritance diagram for DensoRobotHW:

Public Member Functions
void	appendJoint (const KDL::SegmentMap::const_iterator segment, std::vector< const KDL::Joint * > &joints)
	DensoRobotHW ()
ros::Duration	getPeriod () const
ros::Time	getTime () const
virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
void	read (const ros::Time &time, const ros::Duration &period)
void	write (const ros::Time &time, const ros::Duration &period)
virtual	~DensoRobotHW ()
Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const
virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)
virtual bool	prepareSwitch (const std::list< ControllerInfo > &start_list, const std::list< ControllerInfo > &stop_list)
	RobotHW ()
virtual	~RobotHW ()
Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()
std::vector< std::string >	getInterfaceResources (std::string iface_type) const
std::vector< std::string >	getNames () const
void	registerInterface (T *iface)
void	registerInterfaceManager (InterfaceManager *iface_man)

Private Attributes
std::vector< double >	a_cmd_
std::vector< ActuatorData >	a_cmd_data_
std::vector< double >	a_eff_
std::vector< double >	a_pos_
std::vector< double >	a_pos_prev_
std::vector< ActuatorData >	a_state_data_
std::vector< double >	a_vel_
ActuatorToJointStateInterface	act_to_jnt_state_
std::vector< double >	cmd_
std::vector< double >	eff_
std::vector< JointData >	j_cmd_data_
std::vector< JointData >	j_state_data_
hardware_interface::PositionJointInterface	jnt_eff_interface_
PositionJointSoftLimitsInterface	jnt_limits_interface_
hardware_interface::JointStateInterface	jnt_state_interface_
JointToActuatorPositionInterface	jnt_to_act_pos_
SimpleTransmission	m_mm_trans_
std::vector< double >	pos_
SimpleTransmission	raddeg_trans_
boost::shared_ptr< DensoRobot >	robot_
std::vector< double >	vel_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector
typedef std::map< std::string, void * >	InterfaceMap
typedef std::map< std::string, std::vector< std::string > >	ResourceMap
typedef std::map< std::string, size_t >	SizeMap
Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_
InterfaceManagerVector	interface_managers_
InterfaceMap	interfaces_
InterfaceMap	interfaces_combo_
SizeMap	num_ifaces_registered_
ResourceMap	resources_

Detailed Description

Definition at line 24 of file denso_hardware_interface.h.

Constructor & Destructor Documentation

DensoRobotHW::DensoRobotHW ( )

inline

Definition at line 27 of file denso_hardware_interface.h.

virtual DensoRobotHW::~DensoRobotHW ( )

inlinevirtual

Definition at line 31 of file denso_hardware_interface.h.

Member Function Documentation

void DensoRobotHW::appendJoint ( const KDL::SegmentMap::const_iterator  segment, std::vector< const KDL::Joint * > &  joints  )

inline

Definition at line 35 of file denso_hardware_interface.h.

ros::Duration DensoRobotHW::getPeriod ( ) const

inline

Definition at line 181 of file denso_hardware_interface.h.

ros::Time DensoRobotHW::getTime ( ) const

inline

Definition at line 180 of file denso_hardware_interface.h.

virtual bool DensoRobotHW::init ( ros::NodeHandle &  root_nh, ros::NodeHandle &  robot_hw_nh  )

inlinevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 43 of file denso_hardware_interface.h.

void DensoRobotHW::read ( const ros::Time &  time, const ros::Duration &  period  )

inlinevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 159 of file denso_hardware_interface.h.

void DensoRobotHW::write ( const ros::Time &  time, const ros::Duration &  period  )

inlinevirtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 164 of file denso_hardware_interface.h.

Member Data Documentation

std::vector<double> DensoRobotHW::a_cmd_

private

Definition at line 207 of file denso_hardware_interface.h.

std::vector<ActuatorData> DensoRobotHW::a_cmd_data_

private

Definition at line 191 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::a_eff_

private

Definition at line 206 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::a_pos_

private

Definition at line 204 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::a_pos_prev_

private

Definition at line 204 of file denso_hardware_interface.h.

std::vector<ActuatorData> DensoRobotHW::a_state_data_

private

Definition at line 190 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::a_vel_

private

Definition at line 205 of file denso_hardware_interface.h.

ActuatorToJointStateInterface DensoRobotHW::act_to_jnt_state_

private

Definition at line 185 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::cmd_

private

Definition at line 198 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::eff_

private

Definition at line 201 of file denso_hardware_interface.h.

std::vector<JointData> DensoRobotHW::j_cmd_data_

private

Definition at line 193 of file denso_hardware_interface.h.

std::vector<JointData> DensoRobotHW::j_state_data_

private

Definition at line 192 of file denso_hardware_interface.h.

hardware_interface::PositionJointInterface DensoRobotHW::jnt_eff_interface_

private

Definition at line 184 of file denso_hardware_interface.h.

PositionJointSoftLimitsInterface DensoRobotHW::jnt_limits_interface_

private

Definition at line 195 of file denso_hardware_interface.h.

hardware_interface::JointStateInterface DensoRobotHW::jnt_state_interface_

private

Definition at line 183 of file denso_hardware_interface.h.

JointToActuatorPositionInterface DensoRobotHW::jnt_to_act_pos_

private

Definition at line 186 of file denso_hardware_interface.h.

SimpleTransmission DensoRobotHW::m_mm_trans_

private

Definition at line 188 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::pos_

private

Definition at line 199 of file denso_hardware_interface.h.

SimpleTransmission DensoRobotHW::raddeg_trans_

private

Definition at line 187 of file denso_hardware_interface.h.

boost::shared_ptr<DensoRobot> DensoRobotHW::robot_

private

Definition at line 209 of file denso_hardware_interface.h.

std::vector<double> DensoRobotHW::vel_

private

Definition at line 200 of file denso_hardware_interface.h.

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

• denso_hardware_interface.h