Public Member Functions | Protected Attributes
ros_control_aubo::AuboHardwareInterface Class Reference

Hardware interface for a robot. More...

#include <aubo_hardware_interface.h>

Inheritance diagram for ros_control_aubo::AuboHardwareInterface:
Inheritance graph
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List of all members.

Public Member Functions

 AuboHardwareInterface (ros::NodeHandle &nh, AuboNewDriver *robot)
 Constructor.
bool canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
void doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void init ()
 Initialize the hardware interface.
virtual void read ()
 Read the state from the robot hardware.
void setMaxVelChange (double inp)
virtual void write ()
 write the command to the robot hardware.

Protected Attributes

hardware_interface::ForceTorqueSensorInterface force_torque_interface_
std::vector< double > joint_effort_
std::vector< std::string > joint_names_
std::vector< double > joint_position_
std::vector< double > joint_position_command_
hardware_interface::JointStateInterface joint_state_interface_
std::vector< double > joint_velocity_
std::vector< double > joint_velocity_command_
double max_vel_change_
ros::NodeHandle nh_
std::size_t num_joints_
bool position_interface_running_
hardware_interface::PositionJointInterface position_joint_interface_
std::vector< double > prev_joint_velocity_command_
AuboNewDriverrobot_
double robot_force_ [3] = { 0., 0., 0. }
double robot_torque_ [3] = { 0., 0., 0. }
bool velocity_interface_running_
hardware_interface::VelocityJointInterface velocity_joint_interface_

Detailed Description

Hardware interface for a robot.

Definition at line 59 of file aubo_hardware_interface.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
nh- Node handle for topics.

Definition at line 42 of file aubo_hardware_interface.cpp.


Member Function Documentation

bool ros_control_aubo::AuboHardwareInterface::canSwitch ( const std::list< hardware_interface::ControllerInfo > &  start_list,
const std::list< hardware_interface::ControllerInfo > &  stop_list 
) const [virtual]

Reimplemented from hardware_interface::RobotHW.

Definition at line 154 of file aubo_hardware_interface.cpp.

void ros_control_aubo::AuboHardwareInterface::doSwitch ( const std::list< hardware_interface::ControllerInfo > &  start_list,
const std::list< hardware_interface::ControllerInfo > &  stop_list 
) [virtual]

Reimplemented from hardware_interface::RobotHW.

Definition at line 225 of file aubo_hardware_interface.cpp.

Initialize the hardware interface.

Definition at line 52 of file aubo_hardware_interface.cpp.

Read the state from the robot hardware.

Definition at line 111 of file aubo_hardware_interface.cpp.

Definition at line 128 of file aubo_hardware_interface.cpp.

write the command to the robot hardware.

Definition at line 132 of file aubo_hardware_interface.cpp.


Member Data Documentation

Definition at line 92 of file aubo_hardware_interface.h.

Definition at line 101 of file aubo_hardware_interface.h.

std::vector<std::string> ros_control_aubo::AuboHardwareInterface::joint_names_ [protected]

Definition at line 98 of file aubo_hardware_interface.h.

Definition at line 99 of file aubo_hardware_interface.h.

Definition at line 102 of file aubo_hardware_interface.h.

Definition at line 91 of file aubo_hardware_interface.h.

Definition at line 100 of file aubo_hardware_interface.h.

Definition at line 103 of file aubo_hardware_interface.h.

Definition at line 109 of file aubo_hardware_interface.h.

Definition at line 88 of file aubo_hardware_interface.h.

Definition at line 105 of file aubo_hardware_interface.h.

Definition at line 96 of file aubo_hardware_interface.h.

Definition at line 93 of file aubo_hardware_interface.h.

Definition at line 104 of file aubo_hardware_interface.h.

Definition at line 112 of file aubo_hardware_interface.h.

double ros_control_aubo::AuboHardwareInterface::robot_force_[3] = { 0., 0., 0. } [protected]

Definition at line 106 of file aubo_hardware_interface.h.

double ros_control_aubo::AuboHardwareInterface::robot_torque_[3] = { 0., 0., 0. } [protected]

Definition at line 107 of file aubo_hardware_interface.h.

Definition at line 95 of file aubo_hardware_interface.h.

Definition at line 94 of file aubo_hardware_interface.h.


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


aubo_new_driver
Author(s): liuxin
autogenerated on Sat Jun 8 2019 19:06:02