The qbrobotics qbmove HardWare interface implements the specific structures to manage the communication with the qbmove device. More...

#include <qb_move_hardware_interface.h>

Inheritance diagram for qb_move_hardware_interface::qbMoveHW:

[legend]

Public Member Functions
std::vector< std::string >	getJoints () override
	Return the shaft position and stiffness preset joints whether `command_with_position_and_preset_` is `true`; the motors joints otherwise. More...

bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh) override
	Call the base method and nothing more. More...

	qbMoveHW ()
	Initialize the `qb_device_hardware_interface::qbDeviceHW` with the specific transmission interface and actuator and joint names. More...

void	read (const ros::Time &time, const ros::Duration &period) override
	Call the base method and nothing more. More...

void	write (const ros::Time &time, const ros::Duration &period) override
	Update the shaft joint limits and call the base method. More...

	~qbMoveHW () override
	Do nothing. More...

Public Member Functions inherited from qb_device_hardware_interface::qbDeviceHW
int	getDeviceId ()

std::string	getDeviceNamespace ()

	qbDeviceHW (qb_device_transmission_interface::TransmissionPtr transmission, const std::vector< std::string > &actuators, const std::vector< std::string > &joints)

	~qbDeviceHW () override

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 void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

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

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

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

	RobotHW ()

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 Member Functions
int	getMaxStiffness ()
	Parse the maximum value of stiffness of the device from the getInfo string. More...

void	updateShaftPositionLimits ()
	Update the shaft joint limits since they depend on the fixed motors limits and on the variable stiffness preset. More...

Private Attributes
bool	command_with_position_and_preset_

qb_move_interactive_interface::qbMoveInteractive	interactive_interface_

double	max_motor_limits_

double	min_motor_limits_

double	position_ticks_to_radians_

double	preset_percent_to_radians_

bool	use_interactive_markers_

Additional Inherited Members
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 qb_device_hardware_interface::qbDeviceHW
virtual int	activateMotors ()

virtual int	deactivateMotors ()

virtual std::string	getInfo ()

virtual int	getMeasurements (std::vector< double > &positions, std::vector< double > &currents, ros::Time &stamp)

virtual int	initializeDevice ()

virtual int	setCommands (const std::vector< double > &commands)

Protected Attributes inherited from qb_device_hardware_interface::qbDeviceHW
qb_device_hardware_interface::qbDeviceHWResources	actuators_

qb_device_hardware_interface::qbDeviceResources	device_

qb_device_msgs::Info	device_info_

qb_device_hardware_interface::qbDeviceHWInterfaces	interfaces_

qb_device_joint_limits_interface::qbDeviceJointLimitsResources	joint_limits_

qb_device_hardware_interface::qbDeviceHWResources	joints_

ros::NodeHandle	node_handle_

std::map< std::string, ros::ServiceClient >	services_

ros::AsyncSpinner	spinner_

ros::Publisher	state_publisher_

qb_device_transmission_interface::qbDeviceTransmissionResources	transmission_

urdf::Model	urdf_model_

bool	use_simulator_mode_

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

The qbrobotics qbmove HardWare interface implements the specific structures to manage the communication with the qbmove device.

It exploits the features provided by the base device-independent hardware interface and the specific transmission interface.

See also: qb_device_hardware_interface::qbDeviceHW, qb_move_transmission_interface::qbMoveTransmission

Definition at line 46 of file qb_move_hardware_interface.h.

Constructor & Destructor Documentation

qbMoveHW::qbMoveHW ( )

Initialize the qb_device_hardware_interface::qbDeviceHW with the specific transmission interface and actuator and joint names.

See also: qb_move_transmission_interface::qbMoveTransmission

Definition at line 32 of file qb_move_hardware_interface.cpp.

qbMoveHW::~qbMoveHW ( )

override

Do nothing.

Definition at line 37 of file qb_move_hardware_interface.cpp.

Member Function Documentation

std::vector< std::string > qbMoveHW::getJoints ( )

overridevirtual

Return the shaft position and stiffness preset joints whether command_with_position_and_preset_ is true; the motors joints otherwise.

Returns: The vector of controller joint names.

Implements qb_device_hardware_interface::qbDeviceHW.

Definition at line 41 of file qb_move_hardware_interface.cpp.

int qbMoveHW::getMaxStiffness ( )

private

Parse the maximum value of stiffness of the device from the getInfo string.

Actually it would be better to retrieve it as a firmware parameter, but it is not supported in old firmwares.

Returns: The parsed max value of stiffness.

See also: qb_device_hardware_interface::qbDeviceHW::getInfo()

Definition at line 48 of file qb_move_hardware_interface.cpp.

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

overridevirtual

Call the base method and nothing more.

Parameters

root_nh	A NodeHandle in the root of the caller namespace.
robot_hw_nh	A NodeHandle in the namespace from which the RobotHW should read its configuration.

Returns: true on success.

Reimplemented from qb_device_hardware_interface::qbDeviceHW.

Definition at line 59 of file qb_move_hardware_interface.cpp.

void qbMoveHW::read	(	const ros::Time &	time,
		const ros::Duration &	period
	)

overridevirtual

Call the base method and nothing more.

Parameters

time	The current time.
period	The time passed since the last call to this method, i.e. the control period.

Reimplemented from qb_device_hardware_interface::qbDeviceHW.

Definition at line 85 of file qb_move_hardware_interface.cpp.

void qbMoveHW::updateShaftPositionLimits ( )

private

Update the shaft joint limits since they depend on the fixed motors limits and on the variable stiffness preset.

What comes out is that an increase of the variable stiffness decreases the absolute value of the shaft position limit, follwing the formula $JL = \pm\mathopen|JL_{MAX} - S\mathclose|$ , where S is the stifness preset (all the values are in ticks).