#include <JointControlManagerWrist.h>
Public Member Functions | |
| r2_msgs::JointControlData | getActualStates (void) |
| r2_msgs::JointControlData | getCommandStates (void) |
| diagnostic_msgs::DiagnosticStatus | getFaults () |
| Get a diagnostic status message describing the faults of this mechanism. | |
| JointControlManagerWrist (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 | ~JointControlManagerWrist () |
Protected Member Functions | |
| void | setParameters () |
Private Attributes | |
| const std::string | logCategory |
Detailed Description
Definition at line 15 of file JointControlManagerWrist.h.
Constructor & Destructor Documentation
| JointControlManagerWrist::JointControlManagerWrist | ( | const std::string & | mechanism, |
| IoFunctions | ioFunctions, | ||
| double | timeLimit, | ||
| const std::string & | type | ||
| ) |
Definition at line 7 of file JointControlManagerWrist.cpp.
| JointControlManagerWrist::~JointControlManagerWrist | ( | ) | [virtual] |
Definition at line 29 of file JointControlManagerWrist.cpp.
Member Function Documentation
| r2_msgs::JointControlData JointControlManagerWrist::getActualStates | ( | void | ) | [virtual] |
if power is off actualStates is not valid, report default states
otherwise report current state
Here is where the current actual state should handle automatic transitions like hardware
Implements JointControlManagerInterface.
Definition at line 49 of file JointControlManagerWrist.cpp.
| r2_msgs::JointControlData JointControlManagerWrist::getCommandStates | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 112 of file JointControlManagerWrist.cpp.
| diagnostic_msgs::DiagnosticStatus JointControlManagerWrist::getFaults | ( | ) | [virtual] |
Get a diagnostic status message describing the faults of this mechanism.
Implements JointControlManagerInterface.
Definition at line 479 of file JointControlManagerWrist.cpp.
| void JointControlManagerWrist::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
automatically calibrate from OFF to PARK
Don't allow neutral if power is off
Don't allow neutral unless actual is faulted, off, park, or neutral
automatically calibrate from OFF to 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 118 of file JointControlManagerWrist.cpp.
| void JointControlManagerWrist::setParameters | ( | ) | [protected] |
| bool JointControlManagerWrist::verifyCalibrationModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 434 of file JointControlManagerWrist.cpp.
| bool JointControlManagerWrist::verifyClearFaultModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 454 of file JointControlManagerWrist.cpp.
| bool JointControlManagerWrist::verifyCommandModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 414 of file JointControlManagerWrist.cpp.
| bool JointControlManagerWrist::verifyControlModeState | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 383 of file JointControlManagerWrist.cpp.
| bool JointControlManagerWrist::verifyStates | ( | void | ) | [virtual] |
Implements JointControlManagerInterface.
Definition at line 378 of file JointControlManagerWrist.cpp.
Member Data Documentation
const std::string JointControlManagerWrist::logCategory [private] |
Definition at line 35 of file JointControlManagerWrist.h.
The documentation for this class was generated from the following files: