ROS2 Control
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fake_components::GenericSystem Class Reference
Inheritance diagram for fake_components::GenericSystem:
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Classes

struct  MimicJoint
 

Public Member Functions

return_type configure (const hardware_interface::HardwareInfo &info) override
 Configuration of the system from data parsed from the robot's URDF. More...
 
std::vector< hardware_interface::StateInterfaceexport_state_interfaces () override
 Exports all state interfaces for this system. More...
 
std::vector< hardware_interface::CommandInterfaceexport_command_interfaces () override
 Exports all command interfaces for this system. More...
 
return_type start () override
 Start exchange data with the hardware. More...
 
return_type stop () override
 Stop exchange data with the hardware. More...
 
return_type read () override
 Read the current state values from the actuators and sensors within the system. More...
 
return_type write () override
 Write the current command values to the actuator within the system. More...
 
- Public Member Functions inherited from hardware_interface::BaseInterface< hardware_interface::SystemInterface >
return_type configure (const HardwareInfo &info) override
 
return_type configure_default (const HardwareInfo &info)
 
std::string get_name () const final
 
status get_status () const final
 
- Public Member Functions inherited from hardware_interface::SystemInterface
virtual return_type prepare_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
 Prepare for a new command interface switch. More...
 
virtual return_type perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &)
 

Protected Attributes

const std::vector< std::string > standard_interfaces_
 Use standard interfaces for joints because they are relevant for dynamic behaviour. More...
 
const size_t POSITION_INTERFACE_INDEX = 0
 
std::vector< MimicJointmimic_joints_
 
std::vector< std::vector< double > > joint_commands_
 The size of this vector is (standard_interfaces_.size() x nr_joints)
 
std::vector< std::vector< double > > joint_states_
 
std::vector< std::string > other_interfaces_
 
std::vector< std::vector< double > > other_commands_
 The size of this vector is (other_interfaces_.size() x nr_joints)
 
std::vector< std::vector< double > > other_states_
 
std::vector< std::string > sensor_interfaces_
 
std::vector< std::vector< double > > sensor_fake_commands_
 The size of this vector is (other_interfaces_.size() x nr_joints)
 
std::vector< std::vector< double > > sensor_states_
 
- Protected Attributes inherited from hardware_interface::BaseInterface< hardware_interface::SystemInterface >
HardwareInfo info_
 
status status_
 

Member Function Documentation

◆ configure()

return_type fake_components::GenericSystem::configure ( const hardware_interface::HardwareInfo system_info)
overridevirtual

Configuration of the system from data parsed from the robot's URDF.

Parameters
[in]system_infostructure with data from URDF.
Returns
return_type::OK if required data are provided and can be parsed, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ export_command_interfaces()

std::vector< hardware_interface::CommandInterface > fake_components::GenericSystem::export_command_interfaces ( )
overridevirtual

Exports all command interfaces for this system.

The command interfaces have to be created and transferred according to the system info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns
vector of command interfaces

Implements hardware_interface::SystemInterface.

◆ export_state_interfaces()

std::vector< hardware_interface::StateInterface > fake_components::GenericSystem::export_state_interfaces ( )
overridevirtual

Exports all state interfaces for this system.

The state interfaces have to be created and transferred according to the system info passed in for the configuration.

Note the ownership over the state interfaces is transferred to the caller.

Returns
vector of state interfaces

Implements hardware_interface::SystemInterface.

◆ read()

return_type fake_components::GenericSystem::read ( )
overridevirtual

Read the current state values from the actuators and sensors within the system.

The data readings from the physical hardware has to be updated and reflected accordingly in the exported state interfaces. That is, the data pointed by the interfaces shall be updated.

Returns
return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ start()

return_type fake_components::GenericSystem::start ( )
inlineoverridevirtual

Start exchange data with the hardware.

Returns
return_type:OK if everything worked as expected, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ stop()

return_type fake_components::GenericSystem::stop ( )
inlineoverridevirtual

Stop exchange data with the hardware.

Returns
return_type:OK if everything worked as expected, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

◆ write()

return_type fake_components::GenericSystem::write ( )
inlineoverridevirtual

Write the current command values to the actuator within the system.

The physical hardware shall be updated with the latest value from the exported command interfaces.

Returns
return_type::OK if the read was successful, return_type::ERROR otherwise.

Implements hardware_interface::SystemInterface.

Member Data Documentation

◆ standard_interfaces_

const std::vector<std::string> fake_components::GenericSystem::standard_interfaces_
protected
Initial value:
= {
hardware_interface::HW_IF_POSITION, hardware_interface::HW_IF_VELOCITY,
hardware_interface::HW_IF_ACCELERATION, hardware_interface::HW_IF_EFFORT}

Use standard interfaces for joints because they are relevant for dynamic behaviour.

By splitting the standard interfaces from other type, the users are able to inherit this class and simply create small "simulation" with desired dynamic behaviour. The advantage over using Gazebo is that enables "quick & dirty" tests of robot's URDF and controllers.


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