Hardware interface for a robot. More...

#include <sim_hw_interface.h>

Inheritance diagram for ros_control_boilerplate::SimHWInterface:

Public Member Functions
virtual void	enforceLimits (ros::Duration &period)

virtual void	init ()
	Initialize the robot hardware interface. More...

virtual void	read (ros::Duration &elapsed_time)
	Read the state from the robot hardware. More...

	SimHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor. More...

virtual void	write (ros::Duration &elapsed_time)
	Write the command to the robot hardware. More...

Public Member Functions inherited from ros_control_boilerplate::GenericHWInterface
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
	Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches. Start and stop list are disjoint. This is just a check, the actual switch is done in doSwitch() More...

virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
	Perform (in non-realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in canSwitch() beforehand. More...

	GenericHWInterface (ros::NodeHandle &nh, urdf::Model *urdf_model=NULL)
	Constructor. More...

std::string	printCommandHelper ()
	Helper for debugging a joint's command. More...

virtual void	printState ()
	Helper for debugging a joint's state. More...

std::string	printStateHelper ()

virtual void	registerJointLimits (const hardware_interface::JointHandle &joint_handle_position, const hardware_interface::JointHandle &joint_handle_velocity, const hardware_interface::JointHandle &joint_handle_effort, std::size_t joint_id)
	Register the limits of the joint specified by joint_id and joint_handle. The limits are retrieved from the urdf_model. More...

virtual void	reset ()
	Set all members to default values. More...

virtual	~GenericHWInterface ()
	Destructor. More...

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 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)

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)

Protected Member Functions
virtual void	positionControlSimulation (ros::Duration &elapsed_time, const std::size_t joint_id)
	Basic model of system for position control. More...

Protected Member Functions inherited from ros_control_boilerplate::GenericHWInterface
virtual void	loadURDF (ros::NodeHandle &nh, std::string param_name)
	Get the URDF XML from the parameter server. More...

Protected Attributes
std::vector< double >	joint_position_prev_

std::string	name_

double	p_error_

int	sim_control_mode_ = 0

double	v_error_

Protected Attributes inherited from ros_control_boilerplate::GenericHWInterface
joint_limits_interface::EffortJointSaturationInterface	eff_jnt_sat_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	eff_jnt_soft_limits_

hardware_interface::EffortJointInterface	effort_joint_interface_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< double >	joint_position_lower_limits_

std::vector< double >	joint_position_upper_limits_

hardware_interface::JointStateInterface	joint_state_interface_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

std::vector< double >	joint_velocity_limits_

std::string	name_

ros::NodeHandle	nh_

std::size_t	num_joints_

joint_limits_interface::PositionJointSaturationInterface	pos_jnt_sat_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pos_jnt_soft_limits_

hardware_interface::PositionJointInterface	position_joint_interface_

urdf::Model *	urdf_model_

bool	use_rosparam_joint_limits_

bool	use_soft_limits_if_available_

joint_limits_interface::VelocityJointSaturationInterface	vel_jnt_sat_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vel_jnt_soft_limits_

hardware_interface::VelocityJointInterface	velocity_joint_interface_

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_

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

Detailed Description

Hardware interface for a robot.

Definition at line 49 of file sim_hw_interface.h.

Constructor & Destructor Documentation

ros_control_boilerplate::SimHWInterface::SimHWInterface	(	ros::NodeHandle &	nh,
		urdf::Model *	urdf_model = `NULL`
	)

Constructor.

Parameters

nh	- Node handle for topics.

Definition at line 47 of file sim_hw_interface.cpp.

Member Function Documentation

void ros_control_boilerplate::SimHWInterface::enforceLimits ( ros::Duration & period )

virtual

Enforce limits for all values before writing

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 121 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::init ( )

virtual

Initialize the robot hardware interface.

Reimplemented from ros_control_boilerplate::GenericHWInterface.

Definition at line 63 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::positionControlSimulation	(	ros::Duration &	elapsed_time,
		const std::size_t	joint_id
	)

protectedvirtual

Basic model of system for position control.

Definition at line 127 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::read ( ros::Duration & elapsed_time )

virtual

Read the state from the robot hardware.

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 74 of file sim_hw_interface.cpp.

void ros_control_boilerplate::SimHWInterface::write ( ros::Duration & elapsed_time )

virtual

Write the command to the robot hardware.

Implements ros_control_boilerplate::GenericHWInterface.

Definition at line 79 of file sim_hw_interface.cpp.

Member Data Documentation

std::vector<double> ros_control_boilerplate::SimHWInterface::joint_position_prev_

protected

Definition at line 83 of file sim_hw_interface.h.

std::string ros_control_boilerplate::SimHWInterface::name_

protected

Definition at line 76 of file sim_hw_interface.h.

double ros_control_boilerplate::SimHWInterface::p_error_

protected

Definition at line 79 of file sim_hw_interface.h.

int ros_control_boilerplate::SimHWInterface::sim_control_mode_ = 0

protected

Definition at line 86 of file sim_hw_interface.h.

double ros_control_boilerplate::SimHWInterface::v_error_

protected

Definition at line 80 of file sim_hw_interface.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation