Can be used to check controllers in franka_gazebo. More...

#include <controller_verifier.h>

Public Member Functions
bool	areArmJoints (const std::set< std::string > &resources) const
	checks if a set of joint_names only contains the joints that are used for the arm More...

bool	areFingerJoints (const std::set< std::string > &resources) const
	checks if a set of joint_names only contains the joints that are used for the gripper More...

	ControllerVerifier (const std::map< std::string, std::shared_ptr< franka_gazebo::Joint >> &joints, const std::string &arm_id)
	Creates a ControllerVerifier object to check controllers for franka_gazebo. More...

bool	isClaimingArmController (const hardware_interface::ControllerInfo &info) const
	checks if a controller that uses the joints of the arm (not gripper joints) claims a position, velocity or effort interface. More...

bool	isClaimingGripperController (const hardware_interface::ControllerInfo &info) const
	checks if a controller wants to use the finger joints with the effort interface More...

bool	isValidController (const hardware_interface::ControllerInfo &controller) const
	checks if a controller can be used in the franka_hw gazebo plugin More...

Static Public Member Functions
static boost::optional< ControlMethod >	determineControlMethod (const std::string &hardware_interface)
	returns the control method of a hardware interface More...

Static Private Member Functions
static bool	hasControlMethodAndValidSize (const hardware_interface::InterfaceResources &resource)

Private Attributes
std::string	arm_id_

std::vector< std::string >	joint_names_

Detailed Description

Can be used to check controllers in franka_gazebo.

It also can distinguish between gripper and arm controllers.

Definition at line 12 of file controller_verifier.h.

Constructor & Destructor Documentation

◆ ControllerVerifier()

franka_gazebo::ControllerVerifier::ControllerVerifier	(	const std::map< std::string, std::shared_ptr< franka_gazebo::Joint >> &	joints,
		const std::string &	arm_id
	)

Creates a ControllerVerifier object to check controllers for franka_gazebo.

Parameters

joints	map of joint names and joints including gripper joints
arm_id	prefix of the joints

Definition at line 5 of file controller_verifier.cpp.

Member Function Documentation

◆ areArmJoints()

bool franka_gazebo::ControllerVerifier::areArmJoints ( const std::set< std::string > & resources ) const

checks if a set of joint_names only contains the joints that are used for the arm

Definition at line 61 of file controller_verifier.cpp.

◆ areFingerJoints()

bool franka_gazebo::ControllerVerifier::areFingerJoints ( const std::set< std::string > & resources ) const

checks if a set of joint_names only contains the joints that are used for the gripper

Definition at line 74 of file controller_verifier.cpp.

◆ determineControlMethod()

boost::optional< ControlMethod > franka_gazebo::ControllerVerifier::determineControlMethod ( const std::string & hardware_interface )

static

returns the control method of a hardware interface

Definition at line 80 of file controller_verifier.cpp.

◆ hasControlMethodAndValidSize()

bool franka_gazebo::ControllerVerifier::hasControlMethodAndValidSize ( const hardware_interface::InterfaceResources & resource )

staticprivate

Definition at line 54 of file controller_verifier.cpp.

◆ isClaimingArmController()

bool franka_gazebo::ControllerVerifier::isClaimingArmController ( const hardware_interface::ControllerInfo & info ) const

checks if a controller that uses the joints of the arm (not gripper joints) claims a position, velocity or effort interface.

Definition at line 26 of file controller_verifier.cpp.

◆ isClaimingGripperController()

bool franka_gazebo::ControllerVerifier::isClaimingGripperController ( const hardware_interface::ControllerInfo & info ) const

checks if a controller wants to use the finger joints with the effort interface

Definition at line 36 of file controller_verifier.cpp.

◆ isValidController()

bool franka_gazebo::ControllerVerifier::isValidController ( const hardware_interface::ControllerInfo & controller ) const

checks if a controller can be used in the franka_hw gazebo plugin

Definition at line 14 of file controller_verifier.cpp.

Member Data Documentation

◆ arm_id_

std::string franka_gazebo::ControllerVerifier::arm_id_

private

Definition at line 42 of file controller_verifier.h.

◆ joint_names_

std::vector<std::string> franka_gazebo::ControllerVerifier::joint_names_