transmission_interface::RequisiteProvider Class Reference

#include <transmission_interface_loader.h>

Inheritance diagram for transmission_interface::RequisiteProvider:

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

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

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

Implemented in transmission_interface::JointStateInterfaceProvider.

getJointCommandData()

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

protectedpure virtual

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

getJointStateData()

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

protectedpure virtual

Implemented in transmission_interface::JointStateInterfaceProvider.

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

Implemented in transmission_interface::JointStateInterfaceProvider, transmission_interface::EffortJointInterfaceProvider, transmission_interface::PositionJointInterfaceProvider, transmission_interface::VelocityJointInterfaceProvider, transmission_interface::BiDirectionalEffortJointInterfaceProvider, transmission_interface::BiDirectionalPositionJointInterfaceProvider, and transmission_interface::BiDirectionalVelocityJointInterfaceProvider.

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_info	Structure containing information of which joints to add. Only new, non-previously registered joints will be added.
[out]	joint_ifaces	Joint 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.

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

• transmission_interface_loader.h
• transmission_interface_loader.cpp