struct RobotDriver
Declaration
struct RobotDriver { /* full declaration omitted */ };Description
Interface a robot driver plugin implements to connect a robot to URI. `uri interface` calls sync() once per cycle, then reads the state with the getters and sends the latest command with servoJ(), speedJ() or tauJ(), depending on the robot's `controller.mode`. Joint vectors follow the RobotModule's reference joint order. See docs/NewRobotDriver.md.
Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:37
Method Overview
- public int getActualQ()
- public int getActualQd()
- public int getForceSensors()
- public int getIMUs()
- public int getJointTorques()
- public virtual void servoJ(const int & q)
- public virtual void setDataRead()
- public virtual void speedJ(const int & alpha)
- public virtual void sync()
- public virtual void tauJ(const int & tau)
- public virtual ~RobotDriver()
Methods
¶int getActualQ()
int getActualQ()Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:49
¶int getActualQd()
int getActualQd()Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:52
¶int getForceSensors()
int getForceSensors()Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:78
¶int getIMUs()
int getIMUs()Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:71
¶int getJointTorques()
int getJointTorques()Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:58
¶virtual void servoJ(const int& q)
virtual void servoJ(const int& q)Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:61
Parameters
- const int& q
¶virtual void setDataRead()
virtual void setDataRead()Description
Called once the state of this cycle has been read. Optional.
Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:46
¶virtual void speedJ(const int& alpha)
virtual void speedJ(const int& alpha)Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:64
Parameters
- const int& alpha
¶virtual void sync()
virtual void sync()Description
Wait for the next state update from the robot. This paces the control loop, so prefer a blocking read over a sleep.
Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:43
¶virtual void tauJ(const int& tau)
virtual void tauJ(const int& tau)Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:67
Parameters
- const int& tau
¶virtual ~RobotDriver()
virtual ~RobotDriver()Declared at: robot_interface/include/robot_interface/RobotDriverTemplate.h:39