#include <hwi_switch_robot_hw_sim.h>

Inheritance diagram for cob_gazebo_ros_control::HWISwitchRobotHWSim:

[legend]

Public Member Functions
virtual bool	canSwitch (const std::list< hardware_interface::ControllerInfo > &start_list, const std::list< hardware_interface::ControllerInfo > &stop_list) const

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

virtual bool	enableJointFiltering (ros::NodeHandle nh, std::string filter_joints_param)

virtual bool	initSim (const std::string &robot_namespace, ros::NodeHandle model_nh, gazebo::physics::ModelPtr parent_model, const urdf::Model *const urdf_model, std::vector< transmission_interface::TransmissionInfo > transmissions)

virtual void	stateValid (const bool active)

Public Member Functions inherited from gazebo_ros_control::DefaultRobotHWSim
virtual void	eStopActive (const bool active)

virtual void	readSim (ros::Time time, ros::Duration period)

virtual void	writeSim (ros::Time time, ros::Duration period)

Public Member Functions inherited from gazebo_ros_control::RobotHWSim
virtual	~RobotHWSim ()

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 &, ros::NodeHandle &)

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

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

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

virtual SwitchState	switchResult (const ControllerInfo &) const

virtual SwitchState	switchResult () const

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

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

virtual	~RobotHW ()=default

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
bool	enable_joint_filtering_

std::set< std::string >	enabled_joints_

std::map< std::string, ControlMethod >	map_hwinterface_to_controlmethod_

std::map< std::string, std::set< std::string > >	map_hwinterface_to_joints_

bool	state_valid_

Protected Attributes inherited from gazebo_ros_control::DefaultRobotHWSim
bool	e_stop_active_

	EFFORT

hardware_interface::EffortJointInterface	ej_interface_

joint_limits_interface::EffortJointSoftLimitsInterface	ej_limits_interface_

joint_limits_interface::EffortJointSaturationInterface	ej_sat_interface_

std::vector< ControlMethod >	joint_control_methods_

std::vector< double >	joint_effort_

std::vector< double >	joint_effort_command_

std::vector< double >	joint_effort_limits_

std::vector< double >	joint_lower_limits_

std::vector< std::string >	joint_names_

std::vector< double >	joint_position_

std::vector< double >	joint_position_command_

std::vector< int >	joint_types_

std::vector< double >	joint_upper_limits_

std::vector< double >	joint_velocity_

std::vector< double >	joint_velocity_command_

hardware_interface::JointStateInterface	js_interface_

bool	last_e_stop_active_

std::vector< double >	last_joint_position_command_

unsigned int	n_dof_

std::string	physics_type_

std::vector< control_toolbox::Pid >	pid_controllers_

hardware_interface::PositionJointInterface	pj_interface_

joint_limits_interface::PositionJointSoftLimitsInterface	pj_limits_interface_

joint_limits_interface::PositionJointSaturationInterface	pj_sat_interface_

	POSITION

	POSITION_PID

std::vector< gazebo::physics::JointPtr >	sim_joints_

	VELOCITY

	VELOCITY_PID

hardware_interface::VelocityJointInterface	vj_interface_

joint_limits_interface::VelocityJointSoftLimitsInterface	vj_limits_interface_

joint_limits_interface::VelocityJointSaturationInterface	vj_sat_interface_

Protected Attributes inherited from hardware_interface::InterfaceManager
std::vector< ResourceManagerBase *>	interface_destruction_list_

InterfaceManagerVector	interface_managers_

InterfaceMap	interfaces_

InterfaceMap	interfaces_combo_

SizeMap	num_ifaces_registered_

ResourceMap	resources_

Additional Inherited Members
Public Types inherited from hardware_interface::RobotHW
enum	SwitchState

Public Attributes inherited from hardware_interface::RobotHW
	DONE

	ERROR

	ONGOING

Protected Types inherited from gazebo_ros_control::DefaultRobotHWSim
enum	ControlMethod

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 gazebo_ros_control::DefaultRobotHWSim
void	registerJointLimits (const std::string &joint_name, const hardware_interface::JointHandle &joint_handle, const ControlMethod ctrl_method, const ros::NodeHandle &joint_limit_nh, const urdf::Model const urdf_model, int const joint_type, double const lower_limit, double const upper_limit, double *const effort_limit)

Detailed Description

Definition at line 29 of file hwi_switch_robot_hw_sim.h.

Member Function Documentation

◆ canSwitch()

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::canSwitch	(	const std::list< hardware_interface::ControllerInfo > &	start_list,
		const std::list< hardware_interface::ControllerInfo > &	stop_list
	)		const

virtual

Definition at line 304 of file hwi_switch_robot_hw_sim.cpp.

◆ doSwitch()

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

virtual

semantic Zero

call setCommand once so that the JointLimitsInterface receive the correct value on their getCommand()!

reset joint_limit_interfaces

Reimplemented from hardware_interface::RobotHW.

Definition at line 326 of file hwi_switch_robot_hw_sim.cpp.

◆ enableJointFiltering()

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::enableJointFiltering	(	ros::NodeHandle	nh,
		std::string	filter_joints_param
	)

virtual

Definition at line 283 of file hwi_switch_robot_hw_sim.cpp.

◆ initSim()

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::initSim	(	const std::string &	robot_namespace,
		ros::NodeHandle	model_nh,
		gazebo::physics::ModelPtr	parent_model,
		const urdf::Model *const	urdf_model,
		std::vector< transmission_interface::TransmissionInfo >	transmissions
	)

virtual

Reimplemented from gazebo_ros_control::DefaultRobotHWSim.

Definition at line 25 of file hwi_switch_robot_hw_sim.cpp.

◆ stateValid()

void cob_gazebo_ros_control::HWISwitchRobotHWSim::stateValid ( const bool active )

virtual

Definition at line 370 of file hwi_switch_robot_hw_sim.cpp.

Member Data Documentation

◆ enable_joint_filtering_

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::enable_joint_filtering_

protected

Definition at line 49 of file hwi_switch_robot_hw_sim.h.

◆ enabled_joints_

std::set< std::string > cob_gazebo_ros_control::HWISwitchRobotHWSim::enabled_joints_

protected

Definition at line 50 of file hwi_switch_robot_hw_sim.h.

◆ map_hwinterface_to_controlmethod_

std::map< std::string, ControlMethod > cob_gazebo_ros_control::HWISwitchRobotHWSim::map_hwinterface_to_controlmethod_

protected

Definition at line 53 of file hwi_switch_robot_hw_sim.h.

◆ map_hwinterface_to_joints_

std::map< std::string, std::set<std::string> > cob_gazebo_ros_control::HWISwitchRobotHWSim::map_hwinterface_to_joints_

protected

Definition at line 52 of file hwi_switch_robot_hw_sim.h.

◆ state_valid_

bool cob_gazebo_ros_control::HWISwitchRobotHWSim::state_valid_

protected

Definition at line 55 of file hwi_switch_robot_hw_sim.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ canSwitch()

◆ doSwitch()

◆ enableJointFiltering()

◆ initSim()

◆ stateValid()

Member Data Documentation

◆ enable_joint_filtering_

◆ enabled_joints_

◆ map_hwinterface_to_controlmethod_

◆ map_hwinterface_to_joints_

◆ state_valid_