JointCommandRigid Class Reference

#include <JointCommandRigid.h>

Inheritance diagram for JointCommandRigid:

List of all members.

Public Member Functions
r2_msgs::JointCapability	getCapability ()
r2_msgs::JointCommand	getCommandedState ()
sensor_msgs::JointState	getCompleteMeasuredState ()
sensor_msgs::JointState	getSimpleMeasuredState ()
	JointCommandRigid (const std::string &mechanism, IoFunctions ioFunctions)
void	loadCoeffs ()
void	setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData)
void	setFaultState ()
void	updateMeasuredState (r2_msgs::JointControlData msg)
virtual	~JointCommandRigid ()
Protected Attributes
std::string	brakePwmCommandElement
unsigned int	completeMessageSize
std::string	desiredPositionCommandElement
std::string	desiredPositionVelocityLimitCommandElement
std::vector< double >	effortVals
std::string	encoderName
std::string	encoderPositionStatusElement
std::string	encoderRoboDynJointName
std::string	encoderVelocityStatusElement
double	jointGearRatio
double	jointKinematicOffset
std::string	jointPositionStatusElement
std::string	jointRoboDynJointName
std::string	jointVelocityStatusElement
std::string	motComLimitCommandElement
std::vector< double >	positionVals
std::vector< double >	velocityVals

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Detailed Description

Definition at line 12 of file JointCommandRigid.h.

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Constructor & Destructor Documentation

JointCommandRigid::JointCommandRigid	(	const std::string &	mechanism,
		IoFunctions	ioFunctions
	)

Definition at line 7 of file JointCommandRigid.cpp.

JointCommandRigid::~JointCommandRigid

(

)

[virtual]

Definition at line 39 of file JointCommandRigid.cpp.

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Member Function Documentation

r2_msgs::JointCapability JointCommandRigid::getCapability

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 269 of file JointCommandRigid.cpp.

r2_msgs::JointCommand JointCommandRigid::getCommandedState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 214 of file JointCommandRigid.cpp.

sensor_msgs::JointState JointCommandRigid::getCompleteMeasuredState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 199 of file JointCommandRigid.cpp.

sensor_msgs::JointState JointCommandRigid::getSimpleMeasuredState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 188 of file JointCommandRigid.cpp.

void JointCommandRigid::loadCoeffs

(

)

[virtual]

Initialize messages

Parse parameter file

Status Elements

Command Elements

Capability Elements

Set robot limits

Implements JointCommandInterface.

Definition at line 42 of file JointCommandRigid.cpp.

void JointCommandRigid::setCommand	(	r2_msgs::JointCommand	msg,
		r2_msgs::JointControlData
	)		[virtual]

Implements JointCommandInterface.

Definition at line 224 of file JointCommandRigid.cpp.

void JointCommandRigid::setFaultState

(

)

Definition at line 210 of file JointCommandRigid.cpp.

void JointCommandRigid::updateMeasuredState

(

r2_msgs::JointControlData

msg

)

[virtual]

joint

encoder

Implements JointCommandInterface.

Definition at line 165 of file JointCommandRigid.cpp.

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Member Data Documentation

std::string JointCommandRigid::brakePwmCommandElement [protected]

Definition at line 41 of file JointCommandRigid.h.

unsigned int JointCommandRigid::completeMessageSize [protected]

Definition at line 53 of file JointCommandRigid.h.

std::string JointCommandRigid::desiredPositionCommandElement [protected]

Definition at line 39 of file JointCommandRigid.h.

std::string JointCommandRigid::desiredPositionVelocityLimitCommandElement [protected]

Definition at line 40 of file JointCommandRigid.h.

std::vector<double> JointCommandRigid::effortVals [protected]

Definition at line 51 of file JointCommandRigid.h.

std::string JointCommandRigid::encoderName [protected]

Definition at line 47 of file JointCommandRigid.h.

std::string JointCommandRigid::encoderPositionStatusElement [protected]

Definition at line 34 of file JointCommandRigid.h.

std::string JointCommandRigid::encoderRoboDynJointName [protected]

Definition at line 31 of file JointCommandRigid.h.

std::string JointCommandRigid::encoderVelocityStatusElement [protected]

Definition at line 37 of file JointCommandRigid.h.

double JointCommandRigid::jointGearRatio [protected]

Definition at line 45 of file JointCommandRigid.h.

double JointCommandRigid::jointKinematicOffset [protected]

Definition at line 44 of file JointCommandRigid.h.

std::string JointCommandRigid::jointPositionStatusElement [protected]

Definition at line 33 of file JointCommandRigid.h.

std::string JointCommandRigid::jointRoboDynJointName [protected]

Definition at line 30 of file JointCommandRigid.h.

std::string JointCommandRigid::jointVelocityStatusElement [protected]

Definition at line 36 of file JointCommandRigid.h.

std::string JointCommandRigid::motComLimitCommandElement [protected]

Definition at line 42 of file JointCommandRigid.h.

std::vector<double> JointCommandRigid::positionVals [protected]

Definition at line 49 of file JointCommandRigid.h.

std::vector<double> JointCommandRigid::velocityVals [protected]

Definition at line 50 of file JointCommandRigid.h.

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

• JointCommandRigid.h
• JointCommandRigid.cpp