This class provides the controllers with an interface to the robot state. More...
#include <robot_state.hpp>
Public Member Functions | |
| Actuator * | getActuator (const std::string &name) |
| get an actuator by actuator name or NULL on failure | |
| CustomHW * | getCustomHW (const std::string &name) |
| Get Custom Hardware device by name or NULL on failure. | |
| JointState * | getJointState (const std::string &name) |
| Get a joint state by name or NULL on failure. | |
| ros::Time | getTime () |
| return the current time of the control loop | |
| void | initXml (TiXmlElement *root) |
| void | propagateActuatorPositionToJointPosition () |
| Propagate the actuator positions, through the transmissions, to the joint positions. | |
| void | propagateJointEffortToActuatorEffort () |
| Propagate the joint efforts, through the transmissions, to the actuator efforts. | |
| RobotState (TiXmlElement *root) | |
Public Attributes | |
| ros::Time | current_time_ |
| The time at which the commands were sent to the hardware. | |
| boost::ptr_unordered_map < std::string, CustomHW > | custom_hws_ |
| Custom hardware structures mapped to their names. | |
| boost::ptr_unordered_map < std::string, JointState > | joint_states_ |
| The joint states mapped to the joint names. | |
| urdf::Model | robot_model_ |
| The kinematic/dynamic model of the robot. | |
| pluginlib::ClassLoader < Transmission > | transmission_loader_ |
| the transmission's loader | |
| boost::ptr_vector< Transmission > | transmissions_ |
| the robot's transmissions | |
Detailed Description
This class provides the controllers with an interface to the robot state.
Most controllers that need the robot state should use the joint states, to get access to the joint position/velocity/effort, and to command the effort a joint should apply. Controllers can get access to the hard realtime clock through current_time_
Definition at line 61 of file robot_state.hpp.
Constructor & Destructor Documentation
| ros_ethercat_model::RobotState::RobotState | ( | TiXmlElement * | root | ) | [inline] |
Definition at line 64 of file robot_state.hpp.
Member Function Documentation
| Actuator* ros_ethercat_model::RobotState::getActuator | ( | const std::string & | name | ) | [inline] |
get an actuator by actuator name or NULL on failure
Definition at line 119 of file robot_state.hpp.
| CustomHW* ros_ethercat_model::RobotState::getCustomHW | ( | const std::string & | name | ) | [inline] |
Get Custom Hardware device by name or NULL on failure.
Definition at line 128 of file robot_state.hpp.
| JointState* ros_ethercat_model::RobotState::getJointState | ( | const std::string & | name | ) | [inline] |
Get a joint state by name or NULL on failure.
Definition at line 134 of file robot_state.hpp.
| ros::Time ros_ethercat_model::RobotState::getTime | ( | ) | [inline] |
return the current time of the control loop
Definition at line 140 of file robot_state.hpp.
| void ros_ethercat_model::RobotState::initXml | ( | TiXmlElement * | root | ) | [inline] |
Definition at line 70 of file robot_state.hpp.
| void ros_ethercat_model::RobotState::propagateActuatorPositionToJointPosition | ( | ) | [inline] |
Propagate the actuator positions, through the transmissions, to the joint positions.
Definition at line 105 of file robot_state.hpp.
| void ros_ethercat_model::RobotState::propagateJointEffortToActuatorEffort | ( | ) | [inline] |
Propagate the joint efforts, through the transmissions, to the actuator efforts.
Definition at line 112 of file robot_state.hpp.
Member Data Documentation
The time at which the commands were sent to the hardware.
Definition at line 146 of file robot_state.hpp.
| boost::ptr_unordered_map<std::string, CustomHW> ros_ethercat_model::RobotState::custom_hws_ |
Custom hardware structures mapped to their names.
Definition at line 152 of file robot_state.hpp.
| boost::ptr_unordered_map<std::string, JointState> ros_ethercat_model::RobotState::joint_states_ |
The joint states mapped to the joint names.
Definition at line 149 of file robot_state.hpp.
The kinematic/dynamic model of the robot.
Definition at line 155 of file robot_state.hpp.
the transmission's loader
Definition at line 161 of file robot_state.hpp.
| boost::ptr_vector<Transmission> ros_ethercat_model::RobotState::transmissions_ |
the robot's transmissions
Definition at line 158 of file robot_state.hpp.
The documentation for this class was generated from the following file: