Class FrankaHardwareInterface
Defined in File franka_hardware_interface.hpp
Nested Relationships
Nested Types
Inheritance Relationships
Base Type
public hardware_interface::SystemInterface
Class Documentation
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class FrankaHardwareInterface : public hardware_interface::SystemInterface
Public Functions
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FrankaHardwareInterface()
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FrankaHardwareInterface(const FrankaHardwareInterface&) = delete
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FrankaHardwareInterface &operator=(const FrankaHardwareInterface &other) = delete
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FrankaHardwareInterface &operator=(FrankaHardwareInterface &&other) = delete
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FrankaHardwareInterface(FrankaHardwareInterface &&other) = delete
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~FrankaHardwareInterface() override = default
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hardware_interface::return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
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hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
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std::vector<hardware_interface::StateInterface> export_state_interfaces() override
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std::vector<hardware_interface::CommandInterface> export_command_interfaces() override
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CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
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CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
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hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
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hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override
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CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override
Public Static Attributes
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static const size_t kNumberOfJoints = 7
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FrankaHardwareInterface()