Public Member Functions
template<class HardwareT >
void	check_hardware_initialization_and_configure (HardwareT &hardware, const HardwareInfo &hardware_info)

template<class HardwareT , class HardwareInterfaceT >
void	initialize_hardware (const HardwareInfo &hardware_info, pluginlib::ClassLoader< HardwareInterfaceT > &loader, std::vector< HardwareT > &container)

template<class HardwareT >
void	import_state_interfaces (HardwareT &hardware)

template<class HardwareT >
void	import_command_interfaces (HardwareT &hardware, std::unordered_map< std::string, bool > &claimed_command_interface_map)

void	initialize_actuator (const HardwareInfo &hardware_info, std::unordered_map< std::string, bool > &claimed_command_interface_map)

void	initialize_sensor (const HardwareInfo &hardware_info)

void	initialize_system (const HardwareInfo &hardware_info, std::unordered_map< std::string, bool > &claimed_command_interface_map)

void	initialize_actuator (std::unique_ptr< ActuatorInterface > actuator, const HardwareInfo &hardware_info, std::unordered_map< std::string, bool > &claimed_command_interface_map)

void	initialize_sensor (std::unique_ptr< SensorInterface > sensor, const HardwareInfo &hardware_info)

void	initialize_system (std::unique_ptr< SystemInterface > system, const HardwareInfo &hardware_info, std::unordered_map< std::string, bool > &claimed_command_interface_map)

Public Attributes
pluginlib::ClassLoader< ActuatorInterface >	actuator_loader_

pluginlib::ClassLoader< SensorInterface >	sensor_loader_

pluginlib::ClassLoader< SystemInterface >	system_loader_

std::vector< Actuator >	actuators_

std::vector< Sensor >	sensors_

std::vector< System >	systems_

std::unordered_map< std::string, rclcpp_lifecycle::State >	hardware_status_map_

std::map< std::string, StateInterface >	state_interface_map_

std::map< std::string, CommandInterface >	command_interface_map_

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

Public Member Functions

Public Attributes