#include <robot_layer.h>

Inheritance diagram for canopen::RobotLayer:

[legend]

Classes
struct	SwitchData

Public Member Functions
void	add (const std::string &name, HandleLayerBaseSharedPtr handle)

virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

void	enforce (const ros::Duration &period, bool reset)

urdf::JointConstSharedPtr	getJoint (const std::string &n) const

virtual void	handleInit (canopen::LayerStatus &status)

virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

	RobotLayer (ros::NodeHandle nh)

Public Member Functions inherited from canopen::LayerGroupNoDiag< HandleLayerBase >
virtual void	handleDiag (LayerReport &report)

	LayerGroupNoDiag (const std::string &n)

Public Member Functions inherited from canopen::LayerGroup< T >
	LayerGroup (const std::string &n)

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 ()

Public Member Functions inherited from canopen::VectorHelper< T >
virtual void	add (const VectorMemberSharedPtr &l)

bool	callFunc (FuncType func, Data &status)

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 bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

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 Types
typedef boost::unordered_map< std::string, HandleLayerBaseSharedPtr >	HandleMap

typedef std::vector< SwitchData >	SwitchContainer

typedef boost::unordered_map< std::string, SwitchContainer >	SwitchMap

Private Member Functions
void	stopControllers (const std::vector< std::string > controllers)

Private Attributes
hardware_interface::EffortJointInterface	eff_interface_

joint_limits_interface::EffortJointSaturationInterface	eff_saturation_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	eff_soft_limits_interface_

boost::atomic< bool >	first_init_

HandleMap	handles_

ros::NodeHandle	nh_

hardware_interface::PositionJointInterface	pos_interface_

joint_limits_interface::PositionJointSaturationInterface	pos_saturation_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pos_soft_limits_interface_

hardware_interface::JointStateInterface	state_interface_

SwitchMap	switch_map_

urdf::Model	urdf_

hardware_interface::VelocityJointInterface	vel_interface_

joint_limits_interface::VelocityJointSaturationInterface	vel_saturation_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vel_soft_limits_interface_

Additional Inherited Members
Public Types inherited from canopen::Layer
enum	LayerState

Public Types inherited from canopen::VectorHelper< T >
typedef boost::shared_ptr< T >	VectorMemberSharedPtr

Public Attributes inherited from canopen::Layer
	Error

	Halt

	Init

const std::string	name

	Off

	Ready

	Recover

	Shutdown

Protected Types inherited from canopen::VectorHelper< T >
typedef std::vector< VectorMemberSharedPtr >	vector_type

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 Member Functions inherited from canopen::LayerGroup< T >
void	call_or_fail (FuncType func, FailType fail, Data &status)

void	call_or_fail_rev (FuncType func, FailType fail, Data &status)

virtual void	handleHalt (LayerStatus &status)

virtual void	handleRead (LayerStatus &status, const LayerState &current_state)

virtual void	handleRecover (LayerStatus &status)

virtual void	handleShutdown (LayerStatus &status)

virtual void	handleWrite (LayerStatus &status, const LayerState &current_state)

Protected Member Functions inherited from canopen::VectorHelper< T >
vector_type::iterator	call (FuncType func, Data &status)

vector_type::iterator	call (FuncType func, Data &status)

vector_type::reverse_iterator	call_rev (FuncType func, Data &status)

vector_type::reverse_iterator	call_rev (FuncType func, Data &status)

void	destroy ()

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Detailed Description

Definition at line 18 of file robot_layer.h.

Member Typedef Documentation

typedef boost::unordered_map< std::string, HandleLayerBaseSharedPtr > canopen::RobotLayer::HandleMap

private

Definition at line 34 of file robot_layer.h.

typedef std::vector<SwitchData> canopen::RobotLayer::SwitchContainer

private

Definition at line 41 of file robot_layer.h.

typedef boost::unordered_map<std::string, SwitchContainer> canopen::RobotLayer::SwitchMap

private

Definition at line 42 of file robot_layer.h.

Constructor & Destructor Documentation

RobotLayer::RobotLayer ( ros::NodeHandle nh )

Definition at line 31 of file robot_layer.cpp.

Member Function Documentation

void RobotLayer::add	(	const std::string &	name,
		HandleLayerBaseSharedPtr	handle
	)

Definition at line 26 of file robot_layer.cpp.

void RobotLayer::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Reimplemented from hardware_interface::RobotHW.

Definition at line 222 of file robot_layer.cpp.

void RobotLayer::enforce	(	const ros::Duration &	period,
		bool	reset
	)

Definition at line 77 of file robot_layer.cpp.

urdf::JointConstSharedPtr canopen::RobotLayer::getJoint ( const std::string & n ) const

inline

Definition at line 51 of file robot_layer.h.

void RobotLayer::handleInit ( canopen::LayerStatus & status )

virtual

Reimplemented from canopen::LayerGroup< T >.

Definition at line 41 of file robot_layer.cpp.

bool RobotLayer::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)