robotis_op::BaseModule Class Reference

#include <base_module.h>

Inheritance diagram for robotis_op::BaseModule:

Public Member Functions
	BaseModule ()
void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)
void	initPoseMsgCallback (const std_msgs::String::ConstPtr &msg)
void	initPoseTrajGenerateProc ()
bool	isRunning ()
void	onModuleDisable ()
void	onModuleEnable ()
void	poseGenerateProc (Eigen::MatrixXd joint_angle_pose)
void	poseGenerateProc (std::map< std::string, double > &joint_angle_pose)
void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)
void	stop ()
virtual	~BaseModule ()
Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()
bool	getModuleEnable ()
std::string	getModuleName ()
void	setModuleEnable (bool enable)
virtual	~MotionModule ()

Public Attributes
BaseModuleState *	base_module_state_
BaseJointState *	joint_state_
Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Private Member Functions
void	callServiceSettingModule (const std::string &module_name)
void	parseInitPoseData (const std::string &path)
void	publishStatusMsg (unsigned int type, std::string msg)
void	queueThread ()
void	setCtrlModule (std::string module)

Private Attributes
int	control_cycle_msec_
bool	has_goal_joints_
bool	ini_pose_only_
std::map< std::string, int >	joint_name_to_id_
boost::thread	queue_thread_
ros::Publisher	set_ctrl_module_pub_
ros::ServiceClient	set_module_client_
ros::Publisher	status_msg_pub_
boost::thread	tra_gene_tread_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< BaseModule >
static void	destroyInstance ()
static T *	getInstance ()
Protected Member Functions inherited from robotis_framework::Singleton< BaseModule >
Singleton &	operator= (Singleton const &)
	Singleton (Singleton const &)
	Singleton ()
Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_
bool	enable_
std::string	module_name_

Detailed Description

Definition at line 69 of file base_module.h.

Constructor & Destructor Documentation

robotis_op::BaseModule::BaseModule

(

)

Definition at line 25 of file base_module.cpp.

robotis_op::BaseModule::~BaseModule ( )

virtual

Definition at line 38 of file base_module.cpp.

Member Function Documentation

void robotis_op::BaseModule::callServiceSettingModule ( const std::string &  module_name )

private

Definition at line 398 of file base_module.cpp.

void robotis_op::BaseModule::initialize ( const int  control_cycle_msec, robotis_framework::Robot *  robot  )

virtual

Implements robotis_framework::MotionModule.

Definition at line 43 of file base_module.cpp.

void robotis_op::BaseModule::initPoseMsgCallback

(

const std_msgs::String::ConstPtr &

msg

)

Definition at line 156 of file base_module.cpp.

void robotis_op::BaseModule::initPoseTrajGenerateProc

(

)

Definition at line 183 of file base_module.cpp.

bool robotis_op::BaseModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 301 of file base_module.cpp.

void robotis_op::BaseModule::onModuleDisable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 385 of file base_module.cpp.

void robotis_op::BaseModule::onModuleEnable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 380 of file base_module.cpp.

void robotis_op::BaseModule::parseInitPoseData ( const std::string &  path )

private

Definition at line 67 of file base_module.cpp.

void robotis_op::BaseModule::poseGenerateProc

(

Eigen::MatrixXd

joint_angle_pose

)

Definition at line 218 of file base_module.cpp.

void robotis_op::BaseModule::poseGenerateProc

(

std::map< std::string, double > &

joint_angle_pose

)

Definition at line 252 of file base_module.cpp.

void robotis_op::BaseModule::process ( std::map< std::string, robotis_framework::Dynamixel * >  dxls, std::map< std::string, double >  sensors  )

virtual

Implements robotis_framework::MotionModule.

Definition at line 306 of file base_module.cpp.

void robotis_op::BaseModule::publishStatusMsg ( unsigned int  type, std::string  msg  )

private

Definition at line 412 of file base_module.cpp.

void robotis_op::BaseModule::queueThread ( )

private

Definition at line 139 of file base_module.cpp.

void robotis_op::BaseModule::setCtrlModule ( std::string  module )

private

Definition at line 390 of file base_module.cpp.

void robotis_op::BaseModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 375 of file base_module.cpp.

Member Data Documentation

BaseModuleState* robotis_op::BaseModule::base_module_state_

Definition at line 95 of file base_module.h.

int robotis_op::BaseModule::control_cycle_msec_

private

Definition at line 105 of file base_module.h.

bool robotis_op::BaseModule::has_goal_joints_

private

Definition at line 116 of file base_module.h.

bool robotis_op::BaseModule::ini_pose_only_

private

Definition at line 117 of file base_module.h.

std::map<std::string, int> robotis_op::BaseModule::joint_name_to_id_

private

Definition at line 114 of file base_module.h.

BaseJointState* robotis_op::BaseModule::joint_state_

Definition at line 96 of file base_module.h.

boost::thread robotis_op::BaseModule::queue_thread_

private

Definition at line 106 of file base_module.h.

ros::Publisher robotis_op::BaseModule::set_ctrl_module_pub_

private

Definition at line 110 of file base_module.h.

ros::ServiceClient robotis_op::BaseModule::set_module_client_

private

Definition at line 112 of file base_module.h.

ros::Publisher robotis_op::BaseModule::status_msg_pub_

private

Definition at line 109 of file base_module.h.

boost::thread robotis_op::BaseModule::tra_gene_tread_

private

Definition at line 107 of file base_module.h.

---

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

• base_module.h
• base_module.cpp