Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
canopen::RobotLayer Class Reference

#include <robot_layer.h>

Inheritance diagram for canopen::RobotLayer:
Inheritance graph
[legend]

Classes

struct  SwitchData
 

Public Member Functions

void add (const std::string &name, HandleLayerBaseSharedPtr handle)
 
virtual void doSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
 
void enforce (const ros::Duration &period, bool reset)
 
urdf::JointConstSharedPtr getJoint (const std::string &n) const
 
virtual void handleInit (canopen::LayerStatus &status)
 
virtual bool prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)
 
 RobotLayer (ros::NodeHandle nh)
 
- Public Member Functions inherited from canopen::LayerGroupNoDiag< HandleLayerBase >
virtual void handleDiag (LayerReport &report)
 
 LayerGroupNoDiag (const std::string &n)
 
- Public Member Functions inherited from canopen::LayerGroup< T >
 LayerGroup (const std::string &n)
 
- Public Member Functions inherited from canopen::Layer
void diag (LayerReport &report)
 
LayerState getLayerState ()
 
void halt (LayerStatus &status)
 
void init (LayerStatus &status)
 
 Layer (const std::string &n)
 
void read (LayerStatus &status)
 
void recover (LayerStatus &status)
 
void shutdown (LayerStatus &status)
 
void write (LayerStatus &status)
 
virtual ~Layer ()
 
- Public Member Functions inherited from canopen::VectorHelper< T >
virtual void add (const VectorMemberSharedPtr &l)
 
bool callFunc (FuncType func, Data &status)
 
- 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)
 

Private Types

typedef boost::unordered_map< std::string, HandleLayerBaseSharedPtrHandleMap
 
typedef std::vector< SwitchDataSwitchContainer
 
typedef boost::unordered_map< std::string, SwitchContainerSwitchMap
 

Private Member Functions

void stopControllers (const std::vector< std::string > controllers)
 

Private Attributes

hardware_interface::EffortJointInterface eff_interface_
 
joint_limits_interface::EffortJointSaturationInterface eff_saturation_interface_
 
joint_limits_interface::EffortJointSoftLimitsInterface eff_soft_limits_interface_
 
boost::atomic< bool > first_init_
 
HandleMap handles_
 
ros::NodeHandle nh_
 
hardware_interface::PositionJointInterface pos_interface_
 
joint_limits_interface::PositionJointSaturationInterface pos_saturation_interface_
 
joint_limits_interface::PositionJointSoftLimitsInterface pos_soft_limits_interface_
 
hardware_interface::JointStateInterface state_interface_
 
SwitchMap switch_map_
 
urdf::Model urdf_
 
hardware_interface::VelocityJointInterface vel_interface_
 
joint_limits_interface::VelocityJointSaturationInterface vel_saturation_interface_
 
joint_limits_interface::VelocityJointSoftLimitsInterface vel_soft_limits_interface_
 

Additional Inherited Members

- Public Types inherited from canopen::Layer
enum  LayerState
 
- Public Types inherited from canopen::VectorHelper< T >
typedef boost::shared_ptr< T > VectorMemberSharedPtr
 
- Public Attributes inherited from canopen::Layer
 Error
 
 Halt
 
 Init
 
const std::string name
 
 Off
 
 Ready
 
 Recover
 
 Shutdown
 
- Protected Types inherited from canopen::VectorHelper< T >
typedef std::vector< VectorMemberSharedPtrvector_type
 
- 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
 
- Protected Member Functions inherited from canopen::LayerGroup< T >
void call_or_fail (FuncType func, FailType fail, Data &status)
 
void call_or_fail_rev (FuncType func, FailType fail, Data &status)
 
virtual void handleHalt (LayerStatus &status)
 
virtual void handleRead (LayerStatus &status, const LayerState &current_state)
 
virtual void handleRecover (LayerStatus &status)
 
virtual void handleShutdown (LayerStatus &status)
 
virtual void handleWrite (LayerStatus &status, const LayerState &current_state)
 
- Protected Member Functions inherited from canopen::VectorHelper< T >
vector_type::iterator call (FuncType func, Data &status)
 
vector_type::iterator call (FuncType func, Data &status)
 
vector_type::reverse_iterator call_rev (FuncType func, Data &status)
 
vector_type::reverse_iterator call_rev (FuncType func, Data &status)
 
void destroy ()
 
- Protected Attributes inherited from hardware_interface::InterfaceManager
boost::ptr_vector< ResourceManagerBaseinterface_destruction_list_
 
InterfaceManagerVector interface_managers_
 
InterfaceMap interfaces_
 
InterfaceMap interfaces_combo_
 
SizeMap num_ifaces_registered_
 
ResourceMap resources_
 

Detailed Description

Definition at line 18 of file robot_layer.h.

Member Typedef Documentation

typedef boost::unordered_map< std::string, HandleLayerBaseSharedPtr > canopen::RobotLayer::HandleMap
private

Definition at line 34 of file robot_layer.h.

typedef std::vector<SwitchData> canopen::RobotLayer::SwitchContainer
private

Definition at line 41 of file robot_layer.h.

typedef boost::unordered_map<std::string, SwitchContainer> canopen::RobotLayer::SwitchMap
private

Definition at line 42 of file robot_layer.h.

Constructor & Destructor Documentation

RobotLayer::RobotLayer ( ros::NodeHandle  nh)

Definition at line 31 of file robot_layer.cpp.

Member Function Documentation

void RobotLayer::add ( const std::string &  name,
HandleLayerBaseSharedPtr  handle 
)

Definition at line 26 of file robot_layer.cpp.

void RobotLayer::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 222 of file robot_layer.cpp.

void RobotLayer::enforce ( const ros::Duration period,
bool  reset 
)

Definition at line 77 of file robot_layer.cpp.

urdf::JointConstSharedPtr canopen::RobotLayer::getJoint ( const std::string &  n) const
inline

Definition at line 51 of file robot_layer.h.

void RobotLayer::handleInit ( canopen::LayerStatus status)
virtual

Reimplemented from canopen::LayerGroup< T >.

Definition at line 41 of file robot_layer.cpp.

bool RobotLayer::prepareSwitch ( 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 106 of file robot_layer.cpp.

void RobotLayer::stopControllers ( const std::vector< std::string >  controllers)
private

Definition at line 18 of file robot_layer.cpp.

Member Data Documentation

hardware_interface::EffortJointInterface canopen::RobotLayer::eff_interface_
private

Definition at line 22 of file robot_layer.h.

joint_limits_interface::EffortJointSaturationInterface canopen::RobotLayer::eff_saturation_interface_
private

Definition at line 29 of file robot_layer.h.

joint_limits_interface::EffortJointSoftLimitsInterface canopen::RobotLayer::eff_soft_limits_interface_
private

Definition at line 28 of file robot_layer.h.

boost::atomic<bool> canopen::RobotLayer::first_init_
private

Definition at line 45 of file robot_layer.h.

HandleMap canopen::RobotLayer::handles_
private

Definition at line 35 of file robot_layer.h.

ros::NodeHandle canopen::RobotLayer::nh_
private

Definition at line 31 of file robot_layer.h.

hardware_interface::PositionJointInterface canopen::RobotLayer::pos_interface_
private

Definition at line 20 of file robot_layer.h.

joint_limits_interface::PositionJointSaturationInterface canopen::RobotLayer::pos_saturation_interface_
private

Definition at line 25 of file robot_layer.h.

joint_limits_interface::PositionJointSoftLimitsInterface canopen::RobotLayer::pos_soft_limits_interface_
private

Definition at line 24 of file robot_layer.h.

hardware_interface::JointStateInterface canopen::RobotLayer::state_interface_
private

Definition at line 19 of file robot_layer.h.

SwitchMap canopen::RobotLayer::switch_map_
private

Definition at line 43 of file robot_layer.h.

urdf::Model canopen::RobotLayer::urdf_
private

Definition at line 32 of file robot_layer.h.

hardware_interface::VelocityJointInterface canopen::RobotLayer::vel_interface_
private

Definition at line 21 of file robot_layer.h.

joint_limits_interface::VelocityJointSaturationInterface canopen::RobotLayer::vel_saturation_interface_
private

Definition at line 27 of file robot_layer.h.

joint_limits_interface::VelocityJointSoftLimitsInterface canopen::RobotLayer::vel_soft_limits_interface_
private

Definition at line 26 of file robot_layer.h.


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


canopen_motor_node
Author(s): Mathias Lüdtke
autogenerated on Sat May 4 2019 02:40:47