The qbrobotics Device HardWare Interfaces is a simple class aimed to group all the hardware_interface:
: related structures in a unique place.
More...
#include <qb_device_hardware_resources.h>
Public Member Functions | |
void | initialize (hardware_interface::RobotHW *robot, qbDeviceHWResources &joints) |
Initialize the joint_state and joint_position HW interfaces with the given device Resource. More... | |
qbDeviceHWInterfaces () | |
Do nothing. More... | |
virtual | ~qbDeviceHWInterfaces () |
Do nothing. More... | |
Public Attributes | |
hardware_interface::PositionJointInterface | joint_position |
hardware_interface::JointStateInterface | joint_state |
The qbrobotics Device HardWare Interfaces is a simple class aimed to group all the hardware_interface:
: related structures in a unique place.
The interfaces supported are the one to read the state (position
, velocity
and effort
) of an array of named joints, and the the one to send reference commands to another array of named position-based joints, i.e. device position control.
hardware_interface::EffortJointInterface
is not yet planned to be implemented. Definition at line 184 of file qb_device_hardware_resources.h.
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inline |
|
inlinevirtual |
Do nothing.
Definition at line 195 of file qb_device_hardware_resources.h.
|
inline |
Initialize the joint_state
and joint_position
HW interfaces with the given device Resource.
The joint state interface links joint position, velocity and effort to the proper joint name (same as in the robot_description
), while the joint position interface allows to control the same joint with joint a position reference command.
robot | The RobotHW pointer, necessary to register the interfaces. |
joints | The device HW joints Resource. |
Definition at line 204 of file qb_device_hardware_resources.h.
hardware_interface::PositionJointInterface qb_device_hardware_interface::qbDeviceHWInterfaces::joint_position |
Definition at line 217 of file qb_device_hardware_resources.h.
hardware_interface::JointStateInterface qb_device_hardware_interface::qbDeviceHWInterfaces::joint_state |
Definition at line 216 of file qb_device_hardware_resources.h.