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. More...

virtual void	init ()
	Initialize the hardware interface. More...

bool	isFault ()
	Returns true, when at least one node in the hardware is in a fault state. More...

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. More...

	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. More...

Public Member Functions inherited from hardware_interface::RobotHW
virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	checkForConflict (const std::list< ControllerInfo > &info) const

virtual bool	init (ros::NodeHandle &root_nh, ros::NodeHandle &robot_hw_nh)

virtual void	read (const ros::Time &time, const ros::Duration &period)

virtual void	read (const ros::Time &time, const ros::Duration &period)

	RobotHW ()

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual void	write (const ros::Time &time, const ros::Duration &period)

virtual	~RobotHW ()

Public Member Functions inherited from hardware_interface::InterfaceManager
T *	get ()

std::vector< std::string >	getInterfaceResources (std::string iface_type) const

std::vector< std::string >	getNames () const

void	registerInterface (T *iface)

void	registerInterfaceManager (InterfaceManager *iface_man)

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

Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBase >	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Additional Inherited Members
Protected Types inherited from hardware_interface::InterfaceManager
typedef std::vector< InterfaceManager * >	InterfaceManagerVector

typedef std::map< std::string, void * >	InterfaceMap

typedef std::map< std::string, std::vector< std::string > >	ResourceMap

typedef std::map< std::string, size_t >	SizeMap

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
	)