IRI ROS Specific Driver Class. More...

#include <kinton_arm.h>

Inheritance diagram for KintonArmDriver:

Public Types
typedef iri_kinton_arm::KintonArmConfig	Config
	define config type
Public Member Functions
bool	closeDriver (void)
	close driver
void	config_update (Config &new_cfg, uint32_t level=0)
	KintonArmDriver (void)
	constructor
bool	openDriver (void)
	open driver
void	set_init_position ()
	config update
void	set_new_positions (const std::vector< int > &new_pos)
bool	startDriver (void)
	start driver
bool	stopDriver (void)
	stop driver
	~KintonArmDriver (void)
	Destructor.
Public Attributes
Config	config_
	config variable
Private Attributes
k_arm_driver	kinton_arm_driver_

Detailed Description

IRI ROS Specific Driver Class.

This class inherits from the IRI Base class IriBaseDriver, which provides the guidelines to implement any specific driver. The IriBaseDriver class offers an easy framework to integrate functional drivers implemented in C++ with the ROS driver structure. ROS driver_base state transitions are already managed by IriBaseDriver.

The KintonArmDriver class must implement all specific driver requirements to safetely open, close, run and stop the driver at any time. It also must guarantee an accessible interface for all driver's parameters.

The KintonArmConfig.cfg needs to be filled up with those parameters suitable to be changed dynamically by the ROS dyanmic reconfigure application. The implementation of the CIriNode class will manage those parameters through methods like postNodeOpenHook() and reconfigureNodeHook().

Definition at line 58 of file kinton_arm.h.

Member Typedef Documentation

typedef iri_kinton_arm::KintonArmConfig KintonArmDriver::Config

define config type

Define a Config type with the KintonArmConfig. All driver implementations will then use the same variable type Config.

Definition at line 77 of file kinton_arm.h.

Constructor & Destructor Documentation

KintonArmDriver::KintonArmDriver ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 5 of file kinton_arm.cpp.

KintonArmDriver::~KintonArmDriver ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 74 of file kinton_arm.cpp.

Member Function Documentation

bool KintonArmDriver::closeDriver ( void ) [virtual]

close driver

In this function, the driver must be closed. Variables related to the driver state must also be taken into account. This function is automatically called by IriBaseDriver::doClose(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 22 of file kinton_arm.cpp.

void KintonArmDriver::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

Definition at line 51 of file kinton_arm.cpp.

bool KintonArmDriver::openDriver ( void ) [virtual]

open driver

In this function, the driver must be openned. Openning errors must be taken into account. This function is automatically called by IriBaseDriver::doOpen(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 10 of file kinton_arm.cpp.

void KintonArmDriver::set_init_position ( )

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place Set arm initial positions

Definition at line 38 of file kinton_arm.cpp.

void KintonArmDriver::set_new_positions ( const std::vector< int > & new_pos )

Send new servo positions

Definition at line 44 of file kinton_arm.cpp.

bool KintonArmDriver::startDriver ( void ) [virtual]

start driver

After this function, the driver and its thread will be started. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStart(), an state transition is performed if return value equals true.

Returns:: bool successful

Implements iri_base_driver::IriBaseDriver.

Definition at line 28 of file kinton_arm.cpp.

bool KintonArmDriver::stopDriver ( void ) [virtual]

stop driver

After this function, the driver's thread will stop its execution. The driver and related variables should be properly setup. This function is automatically called by IriBaseDriver::doStop(), an state transition is performed if return value equals true.