dsr_hw_interface.h File Reference

#include <ros/ros.h>
#include <boost/thread/thread.hpp>
#include <array>
#include <algorithm>
#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <std_msgs/Float64MultiArray.h>
#include <std_msgs/String.h>
#include <std_srvs/Empty.h>
#include <dsr_msgs/RobotError.h>
#include <dsr_msgs/RobotState.h>
#include <dsr_msgs/RobotStop.h>
#include <dsr_msgs/SetRobotMode.h>
#include <dsr_msgs/GetRobotMode.h>
#include <dsr_msgs/MoveJoint.h>
#include <dsr_msgs/MoveLine.h>
#include <dsr_msgs/MoveJointx.h>
#include <dsr_msgs/MoveCircle.h>
#include <dsr_msgs/MoveSplineJoint.h>
#include <dsr_msgs/MoveSplineTask.h>
#include <dsr_msgs/MoveBlending.h>
#include <dsr_msgs/MoveSpiral.h>
#include <dsr_msgs/MovePeriodic.h>
#include <dsr_msgs/MoveWait.h>
#include <dsr_msgs/SetCtrlBoxDigitalOutput.h>
#include <dsr_msgs/GetCtrlBoxDigitalInput.h>
#include <dsr_msgs/SetToolDigitalOutput.h>
#include <dsr_msgs/GetToolDigitalInput.h>
#include <dsr_msgs/SetCtrlBoxAnalogOutput.h>
#include <dsr_msgs/GetCtrlBoxAnalogInput.h>
#include <dsr_msgs/SetCtrlBoxAnalogOutputType.h>
#include <dsr_msgs/SetCtrlBoxAnalogInputType.h>
#include <dsr_msgs/SetModbusOutput.h>
#include <dsr_msgs/GetModbusInput.h>
#include <dsr_msgs/ConfigCreateModbus.h>
#include <dsr_msgs/ConfigDeleteModbus.h>
#include <dsr_msgs/DrlPause.h>
#include <dsr_msgs/DrlStart.h>
#include <dsr_msgs/DrlStop.h>
#include <dsr_msgs/DrlResume.h>
#include <dsr_msgs/GetDrlState.h>
#include <dsr_msgs/ConfigCreateTcp.h>
#include <dsr_msgs/ConfigDeleteTcp.h>
#include <dsr_msgs/GetCurrentTcp.h>
#include <dsr_msgs/SetCurrentTcp.h>
#include <dsr_msgs/ConfigCreateTool.h>
#include <dsr_msgs/ConfigDeleteTool.h>
#include <dsr_msgs/GetCurrentTool.h>
#include <dsr_msgs/SetCurrentTool.h>
#include <dsr_msgs/Robotiq2FOpen.h>
#include <dsr_msgs/Robotiq2FClose.h>
#include <dsr_msgs/Robotiq2FMove.h>
#include <dsr_msgs/SerialSendData.h>
#include <moveit_msgs/DisplayTrajectory.h>
#include <moveit_msgs/RobotTrajectory.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <control_msgs/FollowJointTrajectoryActionGoal.h>
#include "../../../common/include/DRFL.h"
#include "../../../common/include/dsr_serial.h"

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Go to the source code of this file.

Classes
struct	DR_ERROR
struct	DR_STATE
class	dsr_control::DRHWInterface
struct	dsr_control::DRHWInterface::Joint

Namespaces
	dsr_control

Macros
#define	deg2rad(deg)   ((deg) * PI / 180.0)
#define	PI   3.14159265359
	#include "DRFL.h" More...
#define	rad2deg(rad)   ((rad) * 180.0 / PI)

Typedefs
typedef struct DR_ERROR *	LPDR_ERROR
typedef struct DR_STATE *	LPDR_STATE

Macro Definition Documentation

#define deg2rad

(

deg

)

((deg) * PI / 180.0)

Definition at line 132 of file dsr_hw_interface.h.

#define PI   3.14159265359

#include "DRFL.h"

Definition at line 130 of file dsr_hw_interface.h.

#define rad2deg

(

rad

)

((rad) * 180.0 / PI)

Definition at line 133 of file dsr_hw_interface.h.

Typedef Documentation

typedef struct DR_ERROR * LPDR_ERROR

typedef struct DR_STATE * LPDR_STATE