ronex::RonexMapping Class Reference

#include <ronex_mapping.hpp>

Inheritance diagram for ronex::RonexMapping:

List of all members.

Public Member Functions
virtual void	propagateFromRonex (ros_ethercat_model::JointState *js)=0
virtual void	propagateToRonex (ros_ethercat_model::JointState *js)=0
	RonexMapping ()
Protected Member Functions
virtual bool	try_init_cb_ (const ros::TimerEvent &, TiXmlElement *mapping_el, ros_ethercat_model::RobotState *robot, const char *ronex_name)=0
Protected Attributes
bool	first_iteration_
ros::Timer	init_timer_
	using a timer to initialize the transmission once we find the RoNeX we're looking for.
bool	is_initialized_
	this is false until the RoNeX driver has initialised the RoNeX we're waiting for
ros::NodeHandle	nh_

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Detailed Description

Definition at line 33 of file ronex_mapping.hpp.

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Constructor & Destructor Documentation

ronex::RonexMapping::RonexMapping

(

)

[inline]

Definition at line 36 of file ronex_mapping.hpp.

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Member Function Documentation

virtual void ronex::RonexMapping::propagateFromRonex

(

ros_ethercat_model::JointState *

js

)

[pure virtual]

Propagating the data from the RoNeXes to the joint states. This function is implemented in the different mappings.

Parameters:

js	joint_state of the joint specified in the transmission

Implemented in ronex::mapping::general_io::AnalogueToEffort, ronex::mapping::general_io::AnalogueToPosition, ronex::mapping::general_io::CommandToPWM, and ronex::mapping::general_io::CommandToPWM2PinDir.

virtual void ronex::RonexMapping::propagateToRonex

(

ros_ethercat_model::JointState *

js

)

[pure virtual]

Propagating the commands from joint states to the RoNeXes. This function is implemented in the different mappings.

Parameters:

js	joint_state of the joint specified in the transmission

Implemented in ronex::mapping::general_io::AnalogueToPosition, ronex::mapping::general_io::CommandToPWM, and ronex::mapping::general_io::CommandToPWM2PinDir.

virtual bool ronex::RonexMapping::try_init_cb_	(	const ros::TimerEvent &	,
		TiXmlElement *	mapping_el,
		ros_ethercat_model::RobotState *	robot,
		const char *	ronex_name
	)		[protected, pure virtual]

Timer callback for the transmission initialization. Stops the init_timer_ when the initialization is successful.

Implemented in ronex::mapping::general_io::AnalogueToPosition, ronex::mapping::general_io::CommandToPWM, and ronex::mapping::general_io::CommandToPWM2PinDir.

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Member Data Documentation

bool ronex::RonexMapping::first_iteration_ [protected]

Definition at line 58 of file ronex_mapping.hpp.

ros::Timer ronex::RonexMapping::init_timer_ [protected]

using a timer to initialize the transmission once we find the RoNeX we're looking for.

Definition at line 63 of file ronex_mapping.hpp.

bool ronex::RonexMapping::is_initialized_ [protected]

this is false until the RoNeX driver has initialised the RoNeX we're waiting for

Definition at line 61 of file ronex_mapping.hpp.

ros::NodeHandle ronex::RonexMapping::nh_ [protected]

Definition at line 57 of file ronex_mapping.hpp.

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

• ronex_mapping.hpp