Public Member Functions | Public Attributes | Private Attributes
pr2_mechanism_model::Robot Class Reference

This class provides the controllers with an interface to the robot model. More...

#include <robot.h>

List of all members.

Public Member Functions

pr2_hardware_interface::ActuatorgetActuator (const std::string &name) const
 get an actuator pointer based on the actuator name. Returns NULL on failure
ros::Time getTime ()
 Get the time when the current controller cycle was started.
pr2_mechanism_model::TransmissiongetTransmission (const std::string &name) const
 get a transmission pointer based on the transmission name. Returns NULL on failure
int getTransmissionIndex (const std::string &name) const
 get the transmission index based on the transmission name. Returns -1 on failure
bool initXml (TiXmlElement *root)
 Initialize the robot model form xml.
 Robot (pr2_hardware_interface::HardwareInterface *hw)
 Constructor.
 ~Robot ()
 Destructor.

Public Attributes

pr2_hardware_interface::HardwareInterfacehw_
 a pointer to the pr2 hardware interface. Only for advanced users
urdf::Model robot_model_
 The kinematic/dynamic model of the robot.
std::vector< Transmission * > transmissions_
 The list of transmissions.

Private Attributes

boost::shared_ptr
< pluginlib::ClassLoader
< pr2_mechanism_model::Transmission > > 
transmission_loader_

Detailed Description

This class provides the controllers with an interface to the robot model.

Most controllers that need the robot model should use the 'robot_model_', which is a kinematic/dynamic model of the robot, represented by a KDL Tree structure.

Some specialized controllers (such as the calibration controllers) can get access to actuators, transmissions and special joint parameters.

Definition at line 78 of file robot.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 46 of file robot.cpp.

Destructor.

Definition at line 85 of file robot.h.


Member Function Documentation

Actuator * Robot::getActuator ( const std::string &  name) const

get an actuator pointer based on the actuator name. Returns NULL on failure

Definition at line 153 of file robot.cpp.

Get the time when the current controller cycle was started.

Definition at line 132 of file robot.cpp.

Transmission * Robot::getTransmission ( const std::string &  name) const

get a transmission pointer based on the transmission name. Returns NULL on failure

Definition at line 158 of file robot.cpp.

int Robot::getTransmissionIndex ( const std::string &  name) const

get the transmission index based on the transmission name. Returns -1 on failure

Definition at line 148 of file robot.cpp.

bool Robot::initXml ( TiXmlElement *  root)

Initialize the robot model form xml.

Definition at line 51 of file robot.cpp.


Member Data Documentation

a pointer to the pr2 hardware interface. Only for advanced users

Definition at line 117 of file robot.h.

The kinematic/dynamic model of the robot.

Definition at line 99 of file robot.h.

Definition at line 120 of file robot.h.

The list of transmissions.

Definition at line 102 of file robot.h.


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


pr2_mechanism_model
Author(s): Eric Berger berger@willowgarage.com, Stuart Glaser, Wim Meeussen
autogenerated on Mon Dec 2 2013 13:13:02