JointControlManagerInterface Class Reference

#include <JointControlManagerInterface.h>

Inheritance diagram for JointControlManagerInterface:

List of all members.

Public Member Functions
virtual r2_msgs::JointControlData	getActualStates (void)=0
virtual r2_msgs::JointControlData	getCommandStates (void)=0
virtual diagnostic_msgs::DiagnosticStatus	getFaults ()=0
double	getTimeLimit (void)
std::string	getType (void)
virtual void	setCommandStates (const r2_msgs::JointControlData &)=0
void	setPowerState (r2_msgs::PowerState newPowerState)
void	setTimeLimit (double newTimeLimit)
virtual bool	verifyCalibrationModeState (void)=0
virtual bool	verifyClearFaultModeState (void)=0
virtual bool	verifyCommandModeState (void)=0
virtual bool	verifyControlModeState (void)=0
virtual bool	verifyStates (void)=0
Protected Member Functions
	JointControlManagerInterface (const std::string &mechanism, IoFunctions io, double timeLimit, const std::string &type)
virtual	~JointControlManagerInterface ()
Protected Attributes
r2_msgs::JointControlData	actualStates
r2_msgs::JointControlData	commandStates
r2_msgs::JointControlData	defaultStates
boost::shared_ptr < JointControlActualInterface >	jointControlActual
boost::shared_ptr < JointControlCommandInterface >	jointControlCommand
ros::Time	lastCalibrationModeMatchTime
ros::Time	lastClearFaultModeMatchTime
ros::Time	lastCommandModeMatchTime
ros::Time	lastControlModeMatchTime
r2_msgs::PowerState	powerState
r2_msgs::JointControlData	prevActualStates
double	timeLimit
std::string	type

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Detailed Description

Definition at line 23 of file JointControlManagerInterface.h.

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Constructor & Destructor Documentation

JointControlManagerInterface::JointControlManagerInterface	(	const std::string &	mechanism,
		IoFunctions	io,
		double	timeLimit,
		const std::string &	type
	)		[inline, protected]

Definition at line 71 of file JointControlManagerInterface.h.

virtual JointControlManagerInterface::~JointControlManagerInterface

(

)

[inline, protected, virtual]

Definition at line 74 of file JointControlManagerInterface.h.

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Member Function Documentation

virtual r2_msgs::JointControlData JointControlManagerInterface::getActualStates

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

virtual r2_msgs::JointControlData JointControlManagerInterface::getCommandStates

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

virtual diagnostic_msgs::DiagnosticStatus JointControlManagerInterface::getFaults

(

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

double JointControlManagerInterface::getTimeLimit

(

void

)

[inline]

Definition at line 36 of file JointControlManagerInterface.h.

std::string JointControlManagerInterface::getType

(

void

)

[inline]

Definition at line 46 of file JointControlManagerInterface.h.

virtual void JointControlManagerInterface::setCommandStates

(

const r2_msgs::JointControlData &

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

void JointControlManagerInterface::setPowerState

(

r2_msgs::PowerState

newPowerState

)

[inline]

Definition at line 51 of file JointControlManagerInterface.h.

void JointControlManagerInterface::setTimeLimit

(

double

newTimeLimit

)

[inline]

Definition at line 41 of file JointControlManagerInterface.h.

virtual bool JointControlManagerInterface::verifyCalibrationModeState

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

virtual bool JointControlManagerInterface::verifyClearFaultModeState

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

virtual bool JointControlManagerInterface::verifyCommandModeState

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

virtual bool JointControlManagerInterface::verifyControlModeState

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

virtual bool JointControlManagerInterface::verifyStates

(

void

)

[pure virtual]

Implemented in JointControlManagerGripper, JointControlManagerSeriesElastic, JointControlManagerFinger, and JointControlManagerWrist.

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Member Data Documentation

r2_msgs::JointControlData JointControlManagerInterface::actualStates [protected]

Definition at line 57 of file JointControlManagerInterface.h.

r2_msgs::JointControlData JointControlManagerInterface::commandStates [protected]

Definition at line 58 of file JointControlManagerInterface.h.

r2_msgs::JointControlData JointControlManagerInterface::defaultStates [protected]

Definition at line 60 of file JointControlManagerInterface.h.

boost::shared_ptr<JointControlActualInterface> JointControlManagerInterface::jointControlActual [protected]

Definition at line 61 of file JointControlManagerInterface.h.

boost::shared_ptr<JointControlCommandInterface> JointControlManagerInterface::jointControlCommand [protected]

Definition at line 62 of file JointControlManagerInterface.h.

ros::Time JointControlManagerInterface::lastCalibrationModeMatchTime [protected]

Definition at line 65 of file JointControlManagerInterface.h.

ros::Time JointControlManagerInterface::lastClearFaultModeMatchTime [protected]

Definition at line 66 of file JointControlManagerInterface.h.

ros::Time JointControlManagerInterface::lastCommandModeMatchTime [protected]

Definition at line 64 of file JointControlManagerInterface.h.

ros::Time JointControlManagerInterface::lastControlModeMatchTime [protected]

Definition at line 63 of file JointControlManagerInterface.h.

r2_msgs::PowerState JointControlManagerInterface::powerState [protected]

Definition at line 69 of file JointControlManagerInterface.h.

r2_msgs::JointControlData JointControlManagerInterface::prevActualStates [protected]

Definition at line 59 of file JointControlManagerInterface.h.

double JointControlManagerInterface::timeLimit [protected]

Definition at line 68 of file JointControlManagerInterface.h.

std::string JointControlManagerInterface::type [protected]

Definition at line 67 of file JointControlManagerInterface.h.

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

• JointControlManagerInterface.h