combined_robot_hw.h
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27 
28 #ifndef COMBINED_ROBOT_HW_COMBINED_ROBOT_HW_H
29 #define COMBINED_ROBOT_HW_COMBINED_ROBOT_HW_H
30 
31 #include <list>
32 #include <map>
33 #include <typeinfo>
39 #include <ros/console.h>
40 #include <ros/node_handle.h>
41 
43 {
44 
53 {
54 public:
56 
57  virtual ~CombinedRobotHW(){}
58 
69  virtual bool init(ros::NodeHandle& root_nh, ros::NodeHandle &robot_hw_nh);
70 
71 
77  virtual bool prepareSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
78  const std::list<hardware_interface::ControllerInfo>& stop_list);
79 
84  virtual void doSwitch(const std::list<hardware_interface::ControllerInfo>& start_list,
85  const std::list<hardware_interface::ControllerInfo>& stop_list);
86 
93  virtual void read(const ros::Time& time, const ros::Duration& period);
94 
101  virtual void write(const ros::Time& time, const ros::Duration& period);
102 
103 protected:
107  std::vector<hardware_interface::RobotHWSharedPtr> robot_hw_list_;
108 
109  virtual bool loadRobotHW(const std::string& name);
110 
114  void filterControllerList(const std::list<hardware_interface::ControllerInfo>& list,
115  std::list<hardware_interface::ControllerInfo>& filtered_list,
117 };
118 
119 }
120 
121 #endif
std::vector< hardware_interface::RobotHWSharedPtr > robot_hw_list_
pluginlib::ClassLoader< hardware_interface::RobotHW > robot_hw_loader_
virtual bool prepareSwitch(const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual bool init(ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)
The init function is called to initialize the RobotHW from a non-realtime thread. ...
virtual bool loadRobotHW(const std::string &name)
virtual void read(const ros::Time &time, const ros::Duration &period)
virtual void doSwitch(const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
virtual void write(const ros::Time &time, const ros::Duration &period)
void filterControllerList(const std::list< hardware_interface::ControllerInfo > &list, std::list< hardware_interface::ControllerInfo > &filtered_list, hardware_interface::RobotHWSharedPtr robot_hw)
Filters the start and stop lists so that they only contain the controllers and resources that corresp...


combined_robot_hw
Author(s): Toni Oliver
autogenerated on Mon Apr 20 2020 03:52:07