Classes | Public Member Functions | Protected Member Functions | Static Protected Member Functions | List of all members
transmission_interface::RequisiteProvider Class Referenceabstract

#include <transmission_interface_loader.h>

Inheritance diagram for transmission_interface::RequisiteProvider:
Inheritance graph
[legend]

Classes

struct  TransmissionHandleData
 

Public Member Functions

bool loadTransmissionMaps (const TransmissionInfo &transmission_info, TransmissionLoaderData &loader_data, TransmissionSharedPtr transmission)
 
virtual bool updateJointInterfaces (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, JointInterfaces &joint_interfaces, RawJointDataMap &raw_joint_data_map)=0
 Update a robot's joint interfaces with joint information contained in a transmission. More...
 
virtual ~RequisiteProvider ()=default
 

Protected Member Functions

virtual bool getActuatorCommandData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_cmd_data)=0
 
template<class HardwareInterface , class Handle >
bool getActuatorHandles (const std::vector< ActuatorInfo > &actuators_info, hardware_interface::RobotHW *robot_hw, std::vector< Handle > &handles)
 
virtual bool getActuatorStateData (const TransmissionInfo &transmission_info, hardware_interface::RobotHW *robot_hw, ActuatorData &act_state_data)=0
 
virtual bool getJointCommandData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_cmd_data)=0
 
virtual bool getJointStateData (const TransmissionInfo &transmission_info, const RawJointDataMap &raw_joint_data_map, JointData &jnt_state_data)=0
 
virtual bool registerTransmission (TransmissionLoaderData &loader_data, TransmissionHandleData &handle_data)=0
 

Static Protected Member Functions

template<class Interface >
static bool hasResource (const std::string &name, const Interface &iface)
 

Detailed Description

Definition at line 128 of file transmission_interface_loader.h.

Constructor & Destructor Documentation

◆ ~RequisiteProvider()

virtual transmission_interface::RequisiteProvider::~RequisiteProvider ( )
virtualdefault

Member Function Documentation

◆ getActuatorCommandData()

virtual bool transmission_interface::RequisiteProvider::getActuatorCommandData ( const TransmissionInfo transmission_info,
hardware_interface::RobotHW robot_hw,
ActuatorData act_cmd_data 
)
protectedpure virtual

◆ getActuatorHandles()

template<class HardwareInterface , class Handle >
bool transmission_interface::RequisiteProvider::getActuatorHandles ( const std::vector< ActuatorInfo > &  actuators_info,
hardware_interface::RobotHW robot_hw,
std::vector< Handle > &  handles 
)
inlineprotected

Definition at line 207 of file transmission_interface_loader.h.

◆ getActuatorStateData()

virtual bool transmission_interface::RequisiteProvider::getActuatorStateData ( const TransmissionInfo transmission_info,
hardware_interface::RobotHW robot_hw,
ActuatorData act_state_data 
)
protectedpure virtual

◆ getJointCommandData()

virtual bool transmission_interface::RequisiteProvider::getJointCommandData ( const TransmissionInfo transmission_info,
const RawJointDataMap raw_joint_data_map,
JointData jnt_cmd_data 
)
protectedpure virtual

◆ getJointStateData()

virtual bool transmission_interface::RequisiteProvider::getJointStateData ( const TransmissionInfo transmission_info,
const RawJointDataMap raw_joint_data_map,
JointData jnt_state_data 
)
protectedpure virtual

◆ hasResource()

template<class Interface >
static bool transmission_interface::RequisiteProvider::hasResource ( const std::string &  name,
const Interface &  iface 
)
inlinestaticprotected

Definition at line 186 of file transmission_interface_loader.h.

◆ loadTransmissionMaps()

bool transmission_interface::RequisiteProvider::loadTransmissionMaps ( const TransmissionInfo transmission_info,
TransmissionLoaderData loader_data,
TransmissionSharedPtr  transmission 
)

Definition at line 40 of file transmission_interface_loader.cpp.

◆ registerTransmission()

virtual bool transmission_interface::RequisiteProvider::registerTransmission ( TransmissionLoaderData loader_data,
TransmissionHandleData handle_data 
)
protectedpure virtual

◆ updateJointInterfaces()

virtual bool transmission_interface::RequisiteProvider::updateJointInterfaces ( const TransmissionInfo transmission_info,
hardware_interface::RobotHW robot_hw,
JointInterfaces joint_interfaces,
RawJointDataMap raw_joint_data_map 
)
pure virtual

Update a robot's joint interfaces with joint information contained in a transmission.

Parameters
[in]transmission_infoStructure containing information of which joints to add. Only new, non-previously registered joints will be added.
[out]joint_ifacesJoint interfaces where new joints will be added. It may already contain data, which will not be overwritten; only new joints will be added.
raw_joint_data_map[out]Structure where the raw data of new joints will reside. It may already contain data, which will not be overwritten; only new data will be added.
Returns
true if successful.

Implemented in transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, transmission_interface::VelocityJointInterfaceProvider, and transmission_interface::JointStateInterfaceProvider.


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


transmission_interface
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Sun May 10 2020 03:14:56