◆ SensorInterface()
hardware_interface::SensorInterface::SensorInterface |
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const SensorInterface & |
other | ) |
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delete |
SensorInterface copy constructor is actively deleted.
Hardware interfaces are having a unique ownership and thus can't be copied in order to avoid failed or simultaneous access to hardware.
◆ export_state_interfaces()
virtual std::vector<StateInterface> hardware_interface::SensorInterface::export_state_interfaces |
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pure virtual |
Exports all state interfaces for this hardware interface.
The state interfaces have to be created and transferred according to the hardware info passed in for the configuration.
Note the ownership over the state interfaces is transferred to the caller.
- Returns
- vector of state interfaces
◆ get_name()
virtual std::string hardware_interface::SensorInterface::get_name |
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const |
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inlinevirtual |
Get name of the actuator hardware.
- Returns
- name.
◆ get_state()
const rclcpp_lifecycle::State& hardware_interface::SensorInterface::get_state |
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const |
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inline |
Get life-cycle state of the actuator hardware.
- Returns
- state.
◆ on_init()
Initialization of the hardware interface from data parsed from the robot's URDF.
- Parameters
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[in] | hardware_info | structure with data from URDF. |
- Returns
- CallbackReturn::SUCCESS if required data are provided and can be parsed.
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CallbackReturn::ERROR if any error happens or data are missing.
◆ read()
virtual return_type hardware_interface::SensorInterface::read |
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const rclcpp::Time & |
time, |
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const rclcpp::Duration & |
period |
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) |
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pure virtual |
Read the current state values from the actuator.
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.
- Parameters
-
[in] | time | The time at the start of this control loop iteration |
[in] | period | The measured time taken by the last control loop iteration |
- Returns
- return_type::OK if the read was successful, return_type::ERROR otherwise.
◆ set_state()
void hardware_interface::SensorInterface::set_state |
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const rclcpp_lifecycle::State & |
new_state | ) |
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inline |
Set life-cycle state of the actuator hardware.
- Returns
- state.
The documentation for this class was generated from the following file: