Public Member Functions | Public Attributes
pr2_hardware_interface::HardwareInterface Class Reference

#include <hardware_interface.h>

List of all members.

Public Member Functions

bool addAccelerometer (Accelerometer *accelerometer)
 Add an accelerometer to the hardware interface.
bool addActuator (Actuator *actuator)
 Add an actuator to the hardware interface.
bool addAnalogIn (AnalogIn *analog_in)
 Add an analog-in device to the hardware interface.
bool addDigitalOut (DigitalOut *digital_out)
 Add an digital I/O to the hardware interface.
bool addPressureSensor (PressureSensor *sensor)
 Add an pressure sensor to the hardware interface.
bool addProjector (Projector *projector)
 Add an projector to the hardware interface.
AccelerometergetAccelerometer (const std::string &name) const
 Get a pointer to the accelerometer by name.
ActuatorgetActuator (const std::string &name) const
 Get a pointer to the actuator by name.
AnalogIngetAnalogIn (const std::string &name) const
 Get a pointer to the analog-in device by name.
DigitalOutgetDigitalOut (const std::string &name) const
 Get a pointer to the digital I/O by name.
PressureSensorgetPressureSensor (const std::string &name) const
 Get a pointer to the pressure sensor by name.
ProjectorgetProjector (const std::string &name) const
 Get a pointer to the projector by name.

Public Attributes

AccelerometerMap accelerometers_
ActuatorMap actuators_
AnalogInMap analog_ins_
ros::Time current_time_
 The time at which the commands were sent to the hardware.
DigitalOutMap digital_outs_
PressureSensorMap pressure_sensors_
ProjectorMap projectors_

Detailed Description

The HardwareInterface class provides access to the PR2 hardware components that are controlled via EtherCAT. These components include:

For each component type, there exists a class definition that consists of the following three fields: # name - A unique name for this instance of a component type # command - A class which is used to send commands to this component # status - A class which is used to return the status of this component

Drivers that provide one or more of these components register the corresponding class for that component by name with the HardwareInterface. For a given component type, names must be unique.

Controllers can retrieve a pointer to a component's class by name. The component is controlled using the command_ field of the component class, and its status is given in the status_ field.

Definition at line 392 of file hardware_interface.h.


Member Function Documentation

Add an accelerometer to the hardware interface.

Parameters:
accelerometerA pointer to the Accelerometer
Returns:
true if successful, false if name is a duplicate

Definition at line 488 of file hardware_interface.h.

Add an actuator to the hardware interface.

Parameters:
actuatorA pointer to the Actuator
Returns:
true if successful, false if name is a duplicate

Definition at line 466 of file hardware_interface.h.

Add an analog-in device to the hardware interface.

Parameters:
analog_inA pointer to the AnalogIn
Returns:
true if successful, false if name is a duplicate

Definition at line 521 of file hardware_interface.h.

Add an digital I/O to the hardware interface.

Parameters:
digital_outA pointer to the DigitalOut
Returns:
true if successful, false if name is a duplicate

Definition at line 499 of file hardware_interface.h.

Add an pressure sensor to the hardware interface.

Parameters:
sensorA pointer to the PressureSensor
Returns:
true if successful, false if name is a duplicate

Definition at line 477 of file hardware_interface.h.

Add an projector to the hardware interface.

Parameters:
projectorA pointer to the Projector
Returns:
true if successful, false if name is a duplicate

Definition at line 510 of file hardware_interface.h.

Accelerometer* pr2_hardware_interface::HardwareInterface::getAccelerometer ( const std::string &  name) const [inline]

Get a pointer to the accelerometer by name.

Parameters:
nameThe name of the accelerometer
Returns:
A pointer to an Accelerometer. Returns NULL if name is not valid.

Definition at line 426 of file hardware_interface.h.

Actuator* pr2_hardware_interface::HardwareInterface::getActuator ( const std::string &  name) const [inline]

Get a pointer to the actuator by name.

Parameters:
nameThe name of the actuator
Returns:
A pointer to an Actuator. Returns NULL if name is not valid.

Definition at line 406 of file hardware_interface.h.

AnalogIn* pr2_hardware_interface::HardwareInterface::getAnalogIn ( const std::string &  name) const [inline]

Get a pointer to the analog-in device by name.

Parameters:
nameThe name of the analog-in device
Returns:
A pointer to an AnalogIn. Returns NULL if name is not valid.

Definition at line 456 of file hardware_interface.h.

DigitalOut* pr2_hardware_interface::HardwareInterface::getDigitalOut ( const std::string &  name) const [inline]

Get a pointer to the digital I/O by name.

Parameters:
nameThe name of the digital I/O
Returns:
A pointer to an DigitalOut. Returns NULL if name is not valid.

Definition at line 436 of file hardware_interface.h.

Get a pointer to the pressure sensor by name.

Parameters:
nameThe name of the pressure sensor
Returns:
A pointer to a PressureSensor. Returns NULL if name is not valid.

Definition at line 416 of file hardware_interface.h.

Projector* pr2_hardware_interface::HardwareInterface::getProjector ( const std::string &  name) const [inline]

Get a pointer to the projector by name.

Parameters:
nameThe name of the projector
Returns:
A pointer to an Projector. Returns NULL if name is not valid.

Definition at line 446 of file hardware_interface.h.


Member Data Documentation

Definition at line 397 of file hardware_interface.h.

Definition at line 395 of file hardware_interface.h.

Definition at line 400 of file hardware_interface.h.

The time at which the commands were sent to the hardware.

Definition at line 527 of file hardware_interface.h.

Definition at line 398 of file hardware_interface.h.

Definition at line 396 of file hardware_interface.h.

Definition at line 399 of file hardware_interface.h.


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


pr2_hardware_interface
Author(s): Eric Berger berger@willowgarage.com
autogenerated on Mon Dec 2 2013 13:12:58