ros_control_aubo::AuboHardwareInterface Class Reference

Hardware interface for a robot. More...

#include <aubo_hardware_interface.h>

Inheritance diagram for ros_control_aubo::AuboHardwareInterface:

List of all members.

Public Member Functions
	AuboHardwareInterface (ros::NodeHandle &nh, AuboNewDriver *robot)
	Constructor.
bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const
void	doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void	init ()
	Initialize the hardware interface.
virtual void	read ()
	Read the state from the robot hardware.
void	setMaxVelChange (double inp)
virtual void	write ()
	write the command to the robot hardware.
Protected Attributes
hardware_interface::ForceTorqueSensorInterface	force_torque_interface_
std::vector< double >	joint_effort_
std::vector< std::string >	joint_names_
std::vector< double >	joint_position_
std::vector< double >	joint_position_command_
hardware_interface::JointStateInterface	joint_state_interface_
std::vector< double >	joint_velocity_
std::vector< double >	joint_velocity_command_
std::vector< double >	last_joint_position_command_
double	max_vel_change_
ros::NodeHandle	nh_
std::size_t	num_joints_
bool	position_interface_running_
hardware_interface::PositionJointInterface	position_joint_interface_
std::vector< double >	prev_joint_velocity_command_
AuboNewDriver *	robot_
double	robot_force_ [3] = { 0., 0., 0. }
double	robot_torque_ [3] = { 0., 0., 0. }
bool	velocity_interface_running_
hardware_interface::VelocityJointInterface	velocity_joint_interface_

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Detailed Description

Hardware interface for a robot.

Definition at line 60 of file aubo_hardware_interface.h.

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Constructor & Destructor Documentation

ros_control_aubo::AuboHardwareInterface::AuboHardwareInterface	(	ros::NodeHandle &	nh,
		AuboNewDriver *	robot
	)

Constructor.

Parameters:

nh	- Node handle for topics.

Definition at line 43 of file aubo_hardware_interface.cpp.

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Member Function Documentation

bool ros_control_aubo::AuboHardwareInterface::canSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		const

Definition at line 170 of file aubo_hardware_interface.cpp.

void ros_control_aubo::AuboHardwareInterface::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 241 of file aubo_hardware_interface.cpp.

void ros_control_aubo::AuboHardwareInterface::init

(

)

[virtual]

Initialize the hardware interface.

Definition at line 53 of file aubo_hardware_interface.cpp.

void ros_control_aubo::AuboHardwareInterface::read

(

)

[virtual]

Read the state from the robot hardware.

Definition at line 113 of file aubo_hardware_interface.cpp.

void ros_control_aubo::AuboHardwareInterface::setMaxVelChange

(

double

inp

)

Definition at line 130 of file aubo_hardware_interface.cpp.

void ros_control_aubo::AuboHardwareInterface::write

(

)

[virtual]

write the command to the robot hardware.

Definition at line 134 of file aubo_hardware_interface.cpp.

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Member Data Documentation

hardware_interface::ForceTorqueSensorInterface ros_control_aubo::AuboHardwareInterface::force_torque_interface_ [protected]

Definition at line 93 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::joint_effort_ [protected]

Definition at line 102 of file aubo_hardware_interface.h.

std::vector<std::string> ros_control_aubo::AuboHardwareInterface::joint_names_ [protected]

Definition at line 99 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::joint_position_ [protected]

Definition at line 100 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::joint_position_command_ [protected]

Definition at line 104 of file aubo_hardware_interface.h.

hardware_interface::JointStateInterface ros_control_aubo::AuboHardwareInterface::joint_state_interface_ [protected]

Definition at line 92 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::joint_velocity_ [protected]

Definition at line 101 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::joint_velocity_command_ [protected]

Definition at line 105 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::last_joint_position_command_ [protected]

Definition at line 103 of file aubo_hardware_interface.h.

double ros_control_aubo::AuboHardwareInterface::max_vel_change_ [protected]

Definition at line 111 of file aubo_hardware_interface.h.

ros::NodeHandle ros_control_aubo::AuboHardwareInterface::nh_ [protected]

Definition at line 89 of file aubo_hardware_interface.h.

std::size_t ros_control_aubo::AuboHardwareInterface::num_joints_ [protected]

Definition at line 107 of file aubo_hardware_interface.h.

bool ros_control_aubo::AuboHardwareInterface::position_interface_running_ [protected]

Definition at line 97 of file aubo_hardware_interface.h.

hardware_interface::PositionJointInterface ros_control_aubo::AuboHardwareInterface::position_joint_interface_ [protected]

Definition at line 94 of file aubo_hardware_interface.h.

std::vector<double> ros_control_aubo::AuboHardwareInterface::prev_joint_velocity_command_ [protected]

Definition at line 106 of file aubo_hardware_interface.h.

AuboNewDriver* ros_control_aubo::AuboHardwareInterface::robot_ [protected]

Definition at line 114 of file aubo_hardware_interface.h.

double ros_control_aubo::AuboHardwareInterface::robot_force_[3] = { 0., 0., 0. } [protected]

Definition at line 108 of file aubo_hardware_interface.h.

double ros_control_aubo::AuboHardwareInterface::robot_torque_[3] = { 0., 0., 0. } [protected]

Definition at line 109 of file aubo_hardware_interface.h.

bool ros_control_aubo::AuboHardwareInterface::velocity_interface_running_ [protected]

Definition at line 96 of file aubo_hardware_interface.h.

hardware_interface::VelocityJointInterface ros_control_aubo::AuboHardwareInterface::velocity_joint_interface_ [protected]

Definition at line 95 of file aubo_hardware_interface.h.

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

• aubo_hardware_interface.h
• aubo_hardware_interface.cpp