Class FrankaHardwareInterface

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public hardware_interface::SystemInterface

Class Documentation

class FrankaHardwareInterface : public hardware_interface::SystemInterface

Public Functions

explicit FrankaHardwareInterface(std::shared_ptr<Robot> robot, const std::string &arm_id)
FrankaHardwareInterface()
FrankaHardwareInterface(const FrankaHardwareInterface&) = delete
FrankaHardwareInterface &operator=(const FrankaHardwareInterface &other) = delete
FrankaHardwareInterface &operator=(FrankaHardwareInterface &&other) = delete
FrankaHardwareInterface(FrankaHardwareInterface &&other) = delete
~FrankaHardwareInterface() override = default
hardware_interface::return_type prepare_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
hardware_interface::return_type perform_command_mode_switch(const std::vector<std::string> &start_interfaces, const std::vector<std::string> &stop_interfaces) override
std::vector<hardware_interface::StateInterface> export_state_interfaces() override
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override
CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
hardware_interface::return_type read(const rclcpp::Time &time, const rclcpp::Duration &period) override
hardware_interface::return_type write(const rclcpp::Time &time, const rclcpp::Duration &period) override
CallbackReturn on_init(const hardware_interface::HardwareInfo &info) override

Public Static Attributes

static const size_t kNumberOfJoints = 7