Class for loading transmissions from a URDF description into ros_control interfaces. More...

#include <transmission_interface_loader.h>

Public Member Functions
TransmissionLoaderData *	getData ()

bool	load (const std::string &urdf)
	Load all transmissions in a URDF. More...

bool	load (const std::vector< TransmissionInfo > &transmission_info_vec)
	Load all transmissions contained in a vector of `TransmissionInfo` instances. More...

bool	load (const TransmissionInfo &transmission_info)
	Load a single transmission. More...

	TransmissionInterfaceLoader (hardware_interface::RobotHW robot_hw, RobotTransmissions robot_transmissions)

Private Types
typedef pluginlib::ClassLoader< RequisiteProvider >	RequisiteProviderClassLoader

typedef std::shared_ptr< RequisiteProviderClassLoader >	RequisiteProviderClassLoaderPtr

typedef std::shared_ptr< RequisiteProvider >	RequisiteProviderPtr

typedef pluginlib::ClassLoader< TransmissionLoader >	TransmissionClassLoader

typedef std::shared_ptr< TransmissionClassLoader >	TransmissionClassLoaderPtr

Private Attributes
TransmissionLoaderData	loader_data_

RequisiteProviderClassLoaderPtr	req_provider_loader_

hardware_interface::RobotHW *	robot_hw_ptr_

RobotTransmissions *	robot_transmissions_ptr_

TransmissionClassLoaderPtr	transmission_class_loader_

Detailed Description

Class for loading transmissions from a URDF description into ros_control interfaces.

This is the entry point for automatic transmission parsing. An instance of this class is initialized with pointers to hardware and transmission abstraction interfaces, and calling the load() methods populates these interfaces.

The input information needed for automatically loading transmissions are:

A transmission specification (provided in the load() methods, e.g., a URDF description).
A RobotHW instance (provided in the constructor) already populated with the robot's actuator interfaces.

The output after successful transmission loading is:

A RobotHW instance (provided in the constructor) to which joint interfaces have been added.
A RobotTransmissions instance (provided in the constructor) to which transmission interfaces have been added.

Important note: This class is stateful, and stores internally the raw data of the generated joint interfaces, so keep instances alive as long as these interfaces are used.

class FooRobot : public hardware_interface::RobotHW
{
public:
  void read(ros::Time time, ros::Duration period);
  void write(ros::Time time, ros::Duration period);
  bool init()
  {
    // Populate robot_hw with actuator interfaces (e.g., EffortActuatorInterface)
    // This is hardware-specific, and not detailed here
    // ...
    // Initialize transmission loader
    try
    {
      transmission_loader_.reset(new TransmissionInterfaceLoader(this, &robot_transmissions));
    }
    catch(const std::invalid_argument& ex)
    {
      ROS_ERROR_STREAM("Failed to create transmission interface loader. " << ex.what());
      return false;
    }
    catch(const pluginlib::LibraryLoadException& ex)
    {
      ROS_ERROR_STREAM("Failed to create transmission interface loader. " << ex.what());
      return false;
    }
    catch(...)
    {
      ROS_ERROR_STREAM("Failed to create transmission interface loader. ");
      return false;
    }
    std::string robot_description;
    // ...load URDF from parameter server or file
    // Perform actual transmission loading
    if (!transmission_loader_->load(robot_description)) {return false;}
   // We can now query for any of the created interfaces, for example:
   // robot_transmissions_.get<ActuatorToJointStateInterface>();
   // this->get<JointStateInterface>();
   return true;
 }
private:
  RobotTransmissions robot_transmissions_;
  std::unique_ptr<TransmissionInterfaceLoader> transmission_loader_;
};

Definition at line 317 of file transmission_interface_loader.h.

Member Typedef Documentation

◆ RequisiteProviderClassLoader

typedef pluginlib::ClassLoader<RequisiteProvider> transmission_interface::TransmissionInterfaceLoader::RequisiteProviderClassLoader

private

Definition at line 362 of file transmission_interface_loader.h.

◆ RequisiteProviderClassLoaderPtr

typedef std::shared_ptr<RequisiteProviderClassLoader> transmission_interface::TransmissionInterfaceLoader::RequisiteProviderClassLoaderPtr

private

Definition at line 363 of file transmission_interface_loader.h.

◆ RequisiteProviderPtr

typedef std::shared_ptr<RequisiteProvider> transmission_interface::TransmissionInterfaceLoader::RequisiteProviderPtr

private

Definition at line 365 of file transmission_interface_loader.h.

◆ TransmissionClassLoader

typedef pluginlib::ClassLoader<TransmissionLoader> transmission_interface::TransmissionInterfaceLoader::TransmissionClassLoader

private

Definition at line 360 of file transmission_interface_loader.h.

◆ TransmissionClassLoaderPtr

typedef std::shared_ptr<TransmissionClassLoader> transmission_interface::TransmissionInterfaceLoader::TransmissionClassLoaderPtr

private

Definition at line 361 of file transmission_interface_loader.h.

Constructor & Destructor Documentation

◆ TransmissionInterfaceLoader()

transmission_interface::TransmissionInterfaceLoader::TransmissionInterfaceLoader	(	hardware_interface::RobotHW *	robot_hw,
		RobotTransmissions *	robot_transmissions
	)

Parameters

robot_hw	Robot hardware abstraction already populated with actuator interfaces.
robot_transmissions	Robot transmissions abstraction.

Definition at line 89 of file transmission_interface_loader.cpp.

Member Function Documentation

◆ getData()

TransmissionLoaderData* transmission_interface::TransmissionInterfaceLoader::getData ( )

inline

Definition at line 357 of file transmission_interface_loader.h.

◆ load() [1/3]

bool transmission_interface::TransmissionInterfaceLoader::load ( const std::string & urdf )

Load all transmissions in a URDF.

This method adds new joint and transmission interfaces to the RobotHW and RobotTransmissions instances passed in the constructor, respectively.

Parameters

urdf	Robot description containing a transmission specification.

Returns: True if successful.

Definition at line 110 of file transmission_interface_loader.cpp.

◆ load() [2/3]

bool transmission_interface::TransmissionInterfaceLoader::load ( const std::vector< TransmissionInfo > & transmission_info_vec )

Load all transmissions contained in a vector of TransmissionInfo instances.

This method adds new joint and transmission interfaces to the RobotHW and RobotTransmissions instances passed in the constructor, respectively.

Parameters

transmission_info_vec Vector of TransmissionInfo instances.

Returns: True if successful.

Definition at line 125 of file transmission_interface_loader.cpp.

◆ load() [3/3]

bool transmission_interface::TransmissionInterfaceLoader::load ( const TransmissionInfo & transmission_info )

Load a single transmission.

This method adds new joint and transmission interfaces to the RobotHW and RobotTransmissions instances passed in the constructor, respectively.

Parameters

transmission_info Specification of a single transmission.

Returns: True if successful.

Definition at line 134 of file transmission_interface_loader.cpp.

Member Data Documentation

◆ loader_data_

TransmissionLoaderData transmission_interface::TransmissionInterfaceLoader::loader_data_

private

Definition at line 374 of file transmission_interface_loader.h.

◆ req_provider_loader_

RequisiteProviderClassLoaderPtr transmission_interface::TransmissionInterfaceLoader::req_provider_loader_

private

Definition at line 368 of file transmission_interface_loader.h.

◆ robot_hw_ptr_

hardware_interface::RobotHW* transmission_interface::TransmissionInterfaceLoader::robot_hw_ptr_

private

Definition at line 371 of file transmission_interface_loader.h.

◆ robot_transmissions_ptr_

RobotTransmissions* transmission_interface::TransmissionInterfaceLoader::robot_transmissions_ptr_

private

Definition at line 372 of file transmission_interface_loader.h.

◆ transmission_class_loader_

TransmissionClassLoaderPtr transmission_interface::TransmissionInterfaceLoader::transmission_class_loader_

private

Definition at line 367 of file transmission_interface_loader.h.

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

Public Member Functions

Private Types

Private Attributes

Detailed Description

Member Typedef Documentation

◆ RequisiteProviderClassLoader

◆ RequisiteProviderClassLoaderPtr

◆ RequisiteProviderPtr

◆ TransmissionClassLoader

◆ TransmissionClassLoaderPtr

Constructor & Destructor Documentation

◆ TransmissionInterfaceLoader()

Member Function Documentation

◆ getData()

◆ load() [1/3]

◆ load() [2/3]

◆ load() [3/3]

Member Data Documentation

◆ loader_data_

◆ req_provider_loader_

◆ robot_hw_ptr_

◆ robot_transmissions_ptr_

◆ transmission_class_loader_