#include <diffbot.h>

Inheritance diagram for Diffbot< NUM_JOINTS >:

Public Member Functions
	Diffbot ()

ros::Duration	getPeriod () const

ros::Time	getTime () const

void	read ()

bool	start_callback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

bool	stop_callback (std_srvs::Empty::Request &, std_srvs::Empty::Response &)

void	write ()

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 void	doSwitch (const std::list< ControllerInfo > &, const std::list< ControllerInfo > &)

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)

Private Attributes
double	cmd_ [NUM_JOINTS]

double	eff_ [NUM_JOINTS]

hardware_interface::JointStateInterface	jnt_state_interface_

hardware_interface::VelocityJointInterface	jnt_vel_interface_

ros::NodeHandle	nh_

double	pos_ [NUM_JOINTS]

bool	running_

ros::ServiceServer	start_srv_

ros::ServiceServer	stop_srv_

double	vel_ [NUM_JOINTS]

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 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 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_

Detailed Description