#include <combined_robot_hw.h>

Inheritance diagram for combined_robot_hw::CombinedRobotHW:

Public Member Functions
	CombinedRobotHW ()

virtual void	doSwitch (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. More...

virtual bool	prepareSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list)

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

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

virtual	~CombinedRobotHW ()

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

	RobotHW ()

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 Member Functions
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 correspond to the robot_hw interface manager. More...

virtual bool	loadRobotHW (const std::string &name)

Protected Attributes
std::vector< hardware_interface::RobotHWSharedPtr >	robot_hw_list_

pluginlib::ClassLoader< hardware_interface::RobotHW >	robot_hw_loader_

ros::NodeHandle	robot_hw_nh_

ros::NodeHandle	root_nh_

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

CombinedRobotHW.

This class provides a way to combine RobotHW objects.

Definition at line 52 of file combined_robot_hw.h.

Constructor & Destructor Documentation

combined_robot_hw::CombinedRobotHW::CombinedRobotHW ( )

Definition at line 33 of file combined_robot_hw.cpp.

virtual combined_robot_hw::CombinedRobotHW::~CombinedRobotHW ( )

inlinevirtual

Definition at line 57 of file combined_robot_hw.h.

Member Function Documentation

void combined_robot_hw::CombinedRobotHW::doSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Perform (in realtime) all necessary hardware interface switches in order to start and stop the given controllers. Start and stop list are disjoint. The feasability was checked in prepareSwitch() beforehand.

Reimplemented from hardware_interface::RobotHW.

Definition at line 81 of file combined_robot_hw.cpp.

void combined_robot_hw::CombinedRobotHW::filterControllerList	(	const std::list< hardware_interface::ControllerInfo > &	list,
		std::list< hardware_interface::ControllerInfo > &	filtered_list,
		hardware_interface::RobotHWSharedPtr	robot_hw
	)

protected

Filters the start and stop lists so that they only contain the controllers and resources that correspond to the robot_hw interface manager.

Definition at line 208 of file combined_robot_hw.cpp.

bool combined_robot_hw::CombinedRobotHW::init	(	ros::NodeHandle &	root_nh,
		ros::NodeHandle &	robot_hw_nh
	)

virtual

The init function is called to initialize the RobotHW from a non-realtime thread.

Parameters

root_nh	A NodeHandle in the root of the caller namespace.
robot_hw_nh	A NodeHandle in the namespace from which the RobotHW should read its configuration.

Returns: True if initialization was successful

Reimplemented from hardware_interface::RobotHW.

Definition at line 37 of file combined_robot_hw.cpp.

bool combined_robot_hw::CombinedRobotHW::loadRobotHW ( const std::string & name )

protectedvirtual

Definition at line 99 of file combined_robot_hw.cpp.

bool combined_robot_hw::CombinedRobotHW::prepareSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)

virtual

Check (in non-realtime) if given controllers could be started and stopped from the current state of the RobotHW with regard to necessary hardware interface switches and prepare the switching. Start and stop list are disjoint. This handles the check and preparation, the actual switch is commited in doSwitch()

Reimplemented from hardware_interface::RobotHW.

Definition at line 61 of file combined_robot_hw.cpp.

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

virtual

Reads data from the robot HW

Parameters

time	The current time
period	The time passed since the last call to read

Reimplemented from hardware_interface::RobotHW.

Definition at line 187 of file combined_robot_hw.cpp.

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

virtual

Writes data to the robot HW

Parameters

time	The current time
period	The time passed since the last call to write

Reimplemented from hardware_interface::RobotHW.

Definition at line 198 of file combined_robot_hw.cpp.

Member Data Documentation

std::vector<hardware_interface::RobotHWSharedPtr> combined_robot_hw::CombinedRobotHW::robot_hw_list_

protected

Definition at line 107 of file combined_robot_hw.h.

pluginlib::ClassLoader<hardware_interface::RobotHW> combined_robot_hw::CombinedRobotHW::robot_hw_loader_

protected

Definition at line 106 of file combined_robot_hw.h.

ros::NodeHandle combined_robot_hw::CombinedRobotHW::robot_hw_nh_

protected

Definition at line 105 of file combined_robot_hw.h.

ros::NodeHandle combined_robot_hw::CombinedRobotHW::root_nh_

protected

Definition at line 104 of file combined_robot_hw.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation