This class defines a ros-control hardware interface. More...

#include <SchunkCanopenHardwareInterface.h>

Inheritance diagram for SchunkCanopenHardwareInterface:

Public Member Functions
virtual void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
sensor_msgs::JointState	getJointMessage ()
	Creates a joint_state message from the current joint angles and returns it.
virtual void	init ()
	Initialize the hardware interface.
bool	isFault ()
	Returns true, when at least one node in the hardware is in a fault state.
virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void	read ()
	Read the state from the robot hardware.
	SchunkCanopenHardwareInterface (ros::NodeHandle &nh, boost::shared_ptr< CanOpenController > &canopen)
virtual void	write (ros::Time time, ros::Duration period)
	write the command to the robot hardware.
Protected Attributes
boost::shared_ptr < CanOpenController >	m_canopen_controller
bool	m_is_fault
joint_limits_interface::PositionJointSoftLimitsInterface	m_jnt_limits_interface
std::vector< double >	m_joint_effort
joint_limits_interface::JointLimits	m_joint_limits
std::vector< std::string >	m_joint_names
std::vector< double >	m_joint_position_commands
std::vector< double >	m_joint_position_commands_last
std::vector< double >	m_joint_positions
joint_limits_interface::SoftJointLimits	m_joint_soft_limits
hardware_interface::JointStateInterface	m_joint_state_interface
std::vector< double >	m_joint_velocity
ros::NodeHandle	m_node_handle
std::vector< uint8_t >	m_node_ids
std::vector< bool >	m_nodes_in_fault
size_t	m_num_joints
hardware_interface::PositionJointInterface	m_position_joint_interface

Detailed Description

This class defines a ros-control hardware interface.

Definition at line 48 of file SchunkCanopenHardwareInterface.h.

Constructor & Destructor Documentation

SchunkCanopenHardwareInterface::SchunkCanopenHardwareInterface	(	ros::NodeHandle &	nh,
		boost::shared_ptr< CanOpenController > &	canopen
	)

Definition at line 38 of file SchunkCanopenHardwareInterface.cpp.

Member Function Documentation

void SchunkCanopenHardwareInterface::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 206 of file SchunkCanopenHardwareInterface.cpp.

sensor_msgs::JointState SchunkCanopenHardwareInterface::getJointMessage ( )

Creates a joint_state message from the current joint angles and returns it.

Definition at line 211 of file SchunkCanopenHardwareInterface.cpp.

void SchunkCanopenHardwareInterface::init ( ) [virtual]

Initialize the hardware interface.

Definition at line 46 of file SchunkCanopenHardwareInterface.cpp.

bool SchunkCanopenHardwareInterface::isFault ( ) [inline]

Returns true, when at least one node in the hardware is in a fault state.

Definition at line 71 of file SchunkCanopenHardwareInterface.h.

bool SchunkCanopenHardwareInterface::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		`[virtual]`