canopen::HandleLayerBase Class Reference

#include <handle_layer_base.h>

Inheritance diagram for canopen::HandleLayerBase:

Public Types
enum	CanSwitchResult { NotSupported, NotReadyToSwitch, ReadyToSwitch, NoNeedToSwitch }
Public Types inherited from canopen::Layer
enum	LayerState

Public Member Functions
virtual CanSwitchResult	canSwitch (const canopen::MotorBase::OperationMode &m)=0
virtual void	enableLimits (bool enable)=0
virtual void	enforceLimits (const ros::Duration &period, bool reset)=0
virtual bool	forwardForMode (const canopen::MotorBase::OperationMode &m)=0
	HandleLayerBase (const std::string &name)
virtual void	registerHandle (hardware_interface::JointStateInterface &iface)=0
virtual hardware_interface::JointHandle *	registerHandle (hardware_interface::PositionJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)=0
virtual hardware_interface::JointHandle *	registerHandle (hardware_interface::VelocityJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)=0
virtual hardware_interface::JointHandle *	registerHandle (hardware_interface::EffortJointInterface &iface, const joint_limits_interface::JointLimits &limits, const joint_limits_interface::SoftJointLimits *soft_limits=0)=0
virtual bool	switchMode (const canopen::MotorBase::OperationMode &m)=0
Public Member Functions inherited from canopen::Layer
void	diag (LayerReport &report)
LayerState	getLayerState ()
void	halt (LayerStatus &status)
void	init (LayerStatus &status)
	Layer (const std::string &n)
void	read (LayerStatus &status)
void	recover (LayerStatus &status)
void	shutdown (LayerStatus &status)
void	write (LayerStatus &status)
virtual	~Layer ()

Additional Inherited Members
Public Attributes inherited from canopen::Layer
	Error
	Halt
	Init
const std::string	name
	Off
	Ready
	Recover
	Shutdown
Protected Member Functions inherited from canopen::Layer
virtual void	handleDiag (LayerReport &report)=0
virtual void	handleHalt (LayerStatus &status)=0
virtual void	handleInit (LayerStatus &status)=0
virtual void	handleRead (LayerStatus &status, const LayerState &current_state)=0
virtual void	handleRecover (LayerStatus &status)=0
virtual void	handleShutdown (LayerStatus &status)=0
virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)=0

Detailed Description

Definition at line 10 of file handle_layer_base.h.

Member Enumeration Documentation

enum canopen::HandleLayerBase::CanSwitchResult

Enumerator
NotSupported
NotReadyToSwitch
ReadyToSwitch
NoNeedToSwitch

Definition at line 14 of file handle_layer_base.h.

Constructor & Destructor Documentation

canopen::HandleLayerBase::HandleLayerBase ( const std::string &  name )

inline

Definition at line 12 of file handle_layer_base.h.

Member Function Documentation

virtual CanSwitchResult canopen::HandleLayerBase::canSwitch ( const canopen::MotorBase::OperationMode &  m )

pure virtual

Implemented in canopen::HandleLayer.

virtual void canopen::HandleLayerBase::enableLimits ( bool  enable )

pure virtual

Implemented in canopen::HandleLayer.

virtual void canopen::HandleLayerBase::enforceLimits ( const ros::Duration &  period, bool  reset  )

pure virtual

Implemented in canopen::HandleLayer.

virtual bool canopen::HandleLayerBase::forwardForMode ( const canopen::MotorBase::OperationMode &  m )

pure virtual

Implemented in canopen::HandleLayer.

virtual void canopen::HandleLayerBase::registerHandle ( hardware_interface::JointStateInterface &  iface )

pure virtual

Implemented in canopen::HandleLayer.

virtual hardware_interface::JointHandle* canopen::HandleLayerBase::registerHandle ( hardware_interface::PositionJointInterface &  iface, const joint_limits_interface::JointLimits &  limits, const joint_limits_interface::SoftJointLimits *  soft_limits = 0  )

pure virtual

Implemented in canopen::HandleLayer.

virtual hardware_interface::JointHandle* canopen::HandleLayerBase::registerHandle ( hardware_interface::VelocityJointInterface &  iface, const joint_limits_interface::JointLimits &  limits, const joint_limits_interface::SoftJointLimits *  soft_limits = 0  )

pure virtual

Implemented in canopen::HandleLayer.

virtual hardware_interface::JointHandle* canopen::HandleLayerBase::registerHandle ( hardware_interface::EffortJointInterface &  iface, const joint_limits_interface::JointLimits &  limits, const joint_limits_interface::SoftJointLimits *  soft_limits = 0  )

pure virtual

Implemented in canopen::HandleLayer.

virtual bool canopen::HandleLayerBase::switchMode ( const canopen::MotorBase::OperationMode &  m )

pure virtual

Implemented in canopen::HandleLayer.

---

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

• handle_layer_base.h