Public Member Functions | Private Attributes | List of all members
Diffbot< NUM_JOINTS > Class Template Reference

#include <diffbot.h>

Inheritance diagram for Diffbot< NUM_JOINTS >:
Inheritance graph
[legend]

Public Member Functions

 Diffbot ()
 
ros::Duration getPeriod () const
 
ros::Time getTime () const
 
void read ()
 
bool start_callback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
bool stop_callback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
 
void write ()
 
- 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 init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
 
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)
 
virtual void read (const ros::Time &time, const ros::Duration &period)
 
virtual void read (const ros::Time &time, const ros::Duration &period)
 
 RobotHW ()
 
virtual void write (const ros::Time &time, const ros::Duration &period)
 
virtual void write (const ros::Time &time, const ros::Duration &period)
 
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

double cmd_ [NUM_JOINTS]
 
double eff_ [NUM_JOINTS]
 
hardware_interface::JointStateInterface jnt_state_interface_
 
hardware_interface::VelocityJointInterface jnt_vel_interface_
 
ros::NodeHandle nh_
 
double pos_ [NUM_JOINTS]
 
bool running_
 
ros::ServiceServer start_srv_
 
ros::ServiceServer stop_srv_
 
double vel_ [NUM_JOINTS]
 

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< ResourceManagerBaseinterface_destruction_list_
 
InterfaceManagerVector interface_managers_
 
InterfaceMap interfaces_
 
InterfaceMap interfaces_combo_
 
SizeMap num_ifaces_registered_
 
ResourceMap resources_
 

Detailed Description

template<unsigned int NUM_JOINTS = 2>
class Diffbot< NUM_JOINTS >

Definition at line 49 of file diffbot.h.

Constructor & Destructor Documentation

template<unsigned int NUM_JOINTS = 2>
Diffbot< NUM_JOINTS >::Diffbot ( )
inline

Definition at line 52 of file diffbot.h.

Member Function Documentation

template<unsigned int NUM_JOINTS = 2>
ros::Duration Diffbot< NUM_JOINTS >::getPeriod ( ) const
inline

Definition at line 81 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
ros::Time Diffbot< NUM_JOINTS >::getTime ( ) const
inline

Definition at line 80 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
void Diffbot< NUM_JOINTS >::read ( )
inline

Definition at line 83 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
bool Diffbot< NUM_JOINTS >::start_callback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
inline

Definition at line 115 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
bool Diffbot< NUM_JOINTS >::stop_callback ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)
inline

Definition at line 121 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
void Diffbot< NUM_JOINTS >::write ( )
inline

Definition at line 95 of file diffbot.h.

Member Data Documentation

template<unsigned int NUM_JOINTS = 2>
double Diffbot< NUM_JOINTS >::cmd_[NUM_JOINTS]
private

Definition at line 130 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
double Diffbot< NUM_JOINTS >::eff_[NUM_JOINTS]
private

Definition at line 133 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
hardware_interface::JointStateInterface Diffbot< NUM_JOINTS >::jnt_state_interface_
private

Definition at line 128 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
hardware_interface::VelocityJointInterface Diffbot< NUM_JOINTS >::jnt_vel_interface_
private

Definition at line 129 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
ros::NodeHandle Diffbot< NUM_JOINTS >::nh_
private

Definition at line 136 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
double Diffbot< NUM_JOINTS >::pos_[NUM_JOINTS]
private

Definition at line 131 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
bool Diffbot< NUM_JOINTS >::running_
private

Definition at line 134 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
ros::ServiceServer Diffbot< NUM_JOINTS >::start_srv_
private

Definition at line 137 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
ros::ServiceServer Diffbot< NUM_JOINTS >::stop_srv_
private

Definition at line 138 of file diffbot.h.

template<unsigned int NUM_JOINTS = 2>
double Diffbot< NUM_JOINTS >::vel_[NUM_JOINTS]
private

Definition at line 132 of file diffbot.h.


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


diff_drive_controller
Author(s): Bence Magyar
autogenerated on Sat Apr 18 2020 03:58:05