VelocityInterface Class Reference

#include <hardware_interface.h>

Inheritance diagram for VelocityInterface:

Public Types
typedef hardware_interface::VelocityJointInterface	parent_type
Public Types inherited from HardwareResourceManager< JointHandle, ClaimResources >
typedef JointHandle	ResourceHandleType
Public Types inherited from ResourceManager< JointHandle >
typedef ResourceManager< JointHandle >	resource_manager_type

Public Member Functions
virtual void	reset ()
	VelocityInterface (URCommander &commander, hardware_interface::JointStateInterface &js_interface, std::vector< std::string > &joint_names, double max_vel_change)
virtual bool	write ()
Public Member Functions inherited from HardwareInterface
virtual void	start ()
virtual void	stop ()
Public Member Functions inherited from HardwareResourceManager< JointHandle, ClaimResources >
JointHandle	getHandle (const std::string &name)
JointHandle	getHandle (const std::string &name)
Public Member Functions inherited from hardware_interface::HardwareInterface
virtual void	claim (std::string resource)
virtual void	claim (std::string resource)
void	clearClaims ()
void	clearClaims ()
std::set< std::string >	getClaims () const
std::set< std::string >	getClaims () const
virtual	~HardwareInterface ()
Public Member Functions inherited from ResourceManager< JointHandle >
JointHandle	getHandle (const std::string &name)
std::vector< std::string >	getNames () const
void	registerHandle (const JointHandle &handle)
virtual	~ResourceManager ()
Public Member Functions inherited from hardware_interface::ResourceManagerBase
virtual	~ResourceManagerBase ()

Static Public Attributes
static const std::string	INTERFACE_NAME = "hardware_interface::VelocityJointInterface"

Private Attributes
URCommander &	commander_
double	max_vel_change_
std::array< double, 6 >	prev_velocity_cmd_
std::array< double, 6 >	velocity_cmd_

Additional Inherited Members
Static Public Member Functions inherited from ResourceManager< JointHandle >
static void	concatManagers (std::vector< resource_manager_type * > &managers, resource_manager_type *result)
Protected Types inherited from ResourceManager< JointHandle >
typedef std::map< std::string, JointHandle >	ResourceMap
Protected Attributes inherited from ResourceManager< JointHandle >
ResourceMap	resource_map_

Detailed Description

Definition at line 70 of file hardware_interface.h.

Member Typedef Documentation

typedef hardware_interface::VelocityJointInterface VelocityInterface::parent_type

Definition at line 82 of file hardware_interface.h.

Constructor & Destructor Documentation

VelocityInterface::VelocityInterface	(	URCommander &	commander,
		hardware_interface::JointStateInterface &	js_interface,
		std::vector< std::string > &	joint_names,
		double	max_vel_change
	)

Definition at line 52 of file hardware_interface.cpp.

Member Function Documentation

void VelocityInterface::reset ( )

virtual

Reimplemented from HardwareInterface.

Definition at line 75 of file hardware_interface.cpp.

bool VelocityInterface::write ( )

virtual

Implements HardwareInterface.

Definition at line 62 of file hardware_interface.cpp.

Member Data Documentation

URCommander& VelocityInterface::commander_

private

Definition at line 73 of file hardware_interface.h.

const std::string VelocityInterface::INTERFACE_NAME = "hardware_interface::VelocityJointInterface"

static

Definition at line 83 of file hardware_interface.h.

double VelocityInterface::max_vel_change_

private

Definition at line 75 of file hardware_interface.h.

std::array<double, 6> VelocityInterface::prev_velocity_cmd_

private

Definition at line 74 of file hardware_interface.h.

std::array<double, 6> VelocityInterface::velocity_cmd_

private

Definition at line 74 of file hardware_interface.h.

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

• hardware_interface.h
• hardware_interface.cpp