Class KukaFRIHardwareInterface

Defined in File hardware_interface.hpp

Nested Relationships

Nested Types

Inheritance Relationships

Base Types

public hardware_interface::SystemInterface
public KUKA::FRI::LBRClient (Class LBRClient)

Class Documentation

class KukaFRIHardwareInterface : public hardware_interface::SystemInterface, public KUKA::FRI::LBRClient 

Public Functions

inline KUKA_SUNRISE_FRI_DRIVER_PUBLIC KukaFRIHardwareInterface()

KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_init (const hardware_interface::HardwareInfo &info) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_configure (const rclcpp_lifecycle::State &previous_state) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_cleanup (const rclcpp_lifecycle::State &previous_state) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_activate (const rclcpp_lifecycle::State &previous_state) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC CallbackReturn on_deactivate (const rclcpp_lifecycle::State &previous_state) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC std::vector< hardware_interface::StateInterface > export_state_interfaces () override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC std::vector< hardware_interface::CommandInterface > export_command_interfaces () override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC hardware_interface::return_type read (const rclcpp::Time &time, const rclcpp::Duration &period) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC hardware_interface::return_type write (const rclcpp::Time &time, const rclcpp::Duration &period) override

KUKA_SUNRISE_FRI_DRIVER_PUBLIC void updateCommand (const rclcpp::Time &stamp)

KUKA_SUNRISE_FRI_DRIVER_PUBLIC bool setReceiveMultiplier (int receive_multiplier)

virtual KUKA_SUNRISE_FRI_DRIVER_PUBLIC void waitForCommand () final: Callback for the FRI session state ‘Commanding Wait’.

virtual KUKA_SUNRISE_FRI_DRIVER_PUBLIC void command () final: Callback for the FRI session state ‘Commanding’.

class InvalidGPIOTypeException : public std::runtime_error

Public Functions

inline explicit InvalidGPIOTypeException(const std::string &gpio_type)