prbt_hardware_support::CANOpenBrakeTestAdapter Class Reference

Executes the brake test for all joints. A brake test is triggered via service call. More...

#include <canopen_braketest_adapter.h>

Public Member Functions
	CANOpenBrakeTestAdapter (ros::NodeHandle &nh)

Private Types
using	BrakeTestStatus = std::pair< int8_t, std::string >

Private Member Functions
void	checkBrakeTestResultForNode (const std::string &node_name)
ros::Duration	getBrakeTestDuration (const std::string &node_name)
BrakeTestStatus	getBrakeTestStatusForNode (const std::string &node_name)
ros::Duration	getMaximumBrakeTestDuration (const std::vector< std::string > &node_names)
std::vector< std::string >	getNodeNames ()
void	triggerBrakeTestForNode (const std::string &node_name)
bool	triggerBrakeTests (BrakeTest::Request &, BrakeTest::Response &response)

Private Attributes
ros::ServiceServer	brake_test_srv_
	Service which triggers brake tests for all joints. More...
ros::ServiceClient	canopen_srv_get_client_
ros::ServiceClient	canopen_srv_set_client_
ros::NodeHandle	nh_

Detailed Description

Executes the brake test for all joints. A brake test is triggered via service call.

Definition at line 38 of file canopen_braketest_adapter.h.

Member Typedef Documentation

using prbt_hardware_support::CANOpenBrakeTestAdapter::BrakeTestStatus = std::pair<int8_t, std::string>

private

Definition at line 44 of file canopen_braketest_adapter.h.

Constructor & Destructor Documentation

prbt_hardware_support::CANOpenBrakeTestAdapter::CANOpenBrakeTestAdapter

(

ros::NodeHandle &

nh

)

Definition at line 47 of file canopen_braketest_adapter.cpp.

Member Function Documentation

void prbt_hardware_support::CANOpenBrakeTestAdapter::checkBrakeTestResultForNode ( const std::string &  node_name )

private

Definition at line 148 of file canopen_braketest_adapter.cpp.

ros::Duration prbt_hardware_support::CANOpenBrakeTestAdapter::getBrakeTestDuration ( const std::string &  node_name )

private

Definition at line 67 of file canopen_braketest_adapter.cpp.

CANOpenBrakeTestAdapter::BrakeTestStatus prbt_hardware_support::CANOpenBrakeTestAdapter::getBrakeTestStatusForNode ( const std::string &  node_name )

private

Definition at line 122 of file canopen_braketest_adapter.cpp.

ros::Duration prbt_hardware_support::CANOpenBrakeTestAdapter::getMaximumBrakeTestDuration ( const std::vector< std::string > &  node_names )

private

Definition at line 91 of file canopen_braketest_adapter.cpp.

std::vector< std::string > prbt_hardware_support::CANOpenBrakeTestAdapter::getNodeNames ( )

private

Definition at line 158 of file canopen_braketest_adapter.cpp.

void prbt_hardware_support::CANOpenBrakeTestAdapter::triggerBrakeTestForNode ( const std::string &  node_name )

private

Definition at line 100 of file canopen_braketest_adapter.cpp.

bool prbt_hardware_support::CANOpenBrakeTestAdapter::triggerBrakeTests ( BrakeTest::Request &  , BrakeTest::Response &  response  )

private

Definition at line 201 of file canopen_braketest_adapter.cpp.

Member Data Documentation

ros::ServiceServer prbt_hardware_support::CANOpenBrakeTestAdapter::brake_test_srv_

private

Service which triggers brake tests for all joints.

Definition at line 58 of file canopen_braketest_adapter.h.

ros::ServiceClient prbt_hardware_support::CANOpenBrakeTestAdapter::canopen_srv_get_client_

private

Definition at line 60 of file canopen_braketest_adapter.h.

ros::ServiceClient prbt_hardware_support::CANOpenBrakeTestAdapter::canopen_srv_set_client_

private

Definition at line 61 of file canopen_braketest_adapter.h.

ros::NodeHandle prbt_hardware_support::CANOpenBrakeTestAdapter::nh_

private

Definition at line 56 of file canopen_braketest_adapter.h.

---

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

• canopen_braketest_adapter.h
• canopen_braketest_adapter.cpp