#include <JointControlManagerFinger.h>
Public Member Functions | |
| r2_msgs::JointControlData | getActualStates (void) |
| r2_msgs::JointControlData | getCommandStates (void) |
| diagnostic_msgs::DiagnosticStatus | getFaults () |
| Get the faults as a diagnostic status message. | |
| JointControlManagerFinger (const std::string &, IoFunctions, double, const std::string &) | |
| void | setCommandStates (const r2_msgs::JointControlData &command) |
| bool | verifyCalibrationModeState (void) |
| bool | verifyClearFaultModeState (void) |
| bool | verifyCommandModeState (void) |
| bool | verifyControlModeState (void) |
| bool | verifyStates (void) |
| virtual | ~JointControlManagerFinger () |
Protected Member Functions | |
| void | setParameters () |
Private Attributes | |
| const std::string | logCategory |
Detailed Description
Definition at line 15 of file JointControlManagerFinger.h.
Constructor & Destructor Documentation
| JointControlManagerFinger::JointControlManagerFinger | ( | const std::string & | mechanism, |
| IoFunctions | ioFunctions, | ||
| double | timeLimit, | ||
| const std::string & | type | ||
| ) |
Definition at line 7 of file JointControlManagerFinger.cpp.
| JointControlManagerFinger::~JointControlManagerFinger | ( | ) | [virtual] |
Definition at line 28 of file JointControlManagerFinger.cpp.
Member Function Documentation
| r2_msgs::JointControlData JointControlManagerFinger::getActualStates | ( | void | ) | [virtual] |
guard against drive and calibration mode
Implements JointControlManagerInterface.
Definition at line 49 of file JointControlManagerFinger.cpp.
| r2_msgs::JointControlData JointControlManagerFinger::getCommandStates | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 99 of file JointControlManagerFinger.cpp.
| diagnostic_msgs::DiagnosticStatus JointControlManagerFinger::getFaults | ( | ) | [virtual] |
Get the faults as a diagnostic status message.
Implements JointControlManagerInterface.
Definition at line 452 of file JointControlManagerFinger.cpp.
| void JointControlManagerFinger::setCommandStates | ( | const r2_msgs::JointControlData & | command | ) | [virtual] |
Don't allow bootloader if motor power is on
Don't allow bootloader unless actual is faulted, bootloader, or off Allowing OFF -> BOOTLOADER for #RDEV-1239
Don't allow off if motor power is on
Don't allow off unless actual is faulted, bootloader, or off
Don't allow park if power is off
Don't allow park unless actual is faulted, off, park, neutral, or drive
Don't allow neutral if power is off
Don't allow neutral unless actual is faulted, off, park, or neutral
Don't allow drive if motor power is not on and valid
Don't allow drive unless actual is poark, neutral, or drive
Don't allow drive unless calibrated
guard against drive and changing command mode state
guard against drive and enable calibration state
Implements JointControlManagerInterface.
Definition at line 105 of file JointControlManagerFinger.cpp.
| void JointControlManagerFinger::setParameters | ( | ) | [protected] |
define default state
initialize states;
Definition at line 34 of file JointControlManagerFinger.cpp.
| bool JointControlManagerFinger::verifyCalibrationModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 407 of file JointControlManagerFinger.cpp.
| bool JointControlManagerFinger::verifyClearFaultModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 427 of file JointControlManagerFinger.cpp.
| bool JointControlManagerFinger::verifyCommandModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 387 of file JointControlManagerFinger.cpp.
| bool JointControlManagerFinger::verifyControlModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 356 of file JointControlManagerFinger.cpp.
| bool JointControlManagerFinger::verifyStates | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 351 of file JointControlManagerFinger.cpp.
Member Data Documentation
const std::string JointControlManagerFinger::logCategory [private] |
Definition at line 35 of file JointControlManagerFinger.h.
The documentation for this class was generated from the following files: