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| RCLCPP_SHARED_PTR_DEFINITIONS (RRBotModularJoint) |
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hardware_interface::CallbackReturn | on_init (const hardware_interface::HardwareInfo &info) override |
| Initialization of the hardware interface from data parsed from the robot's URDF. More...
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hardware_interface::CallbackReturn | on_configure (const rclcpp_lifecycle::State &previous_state) override |
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hardware_interface::CallbackReturn | on_activate (const rclcpp_lifecycle::State &previous_state) override |
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hardware_interface::CallbackReturn | on_deactivate (const rclcpp_lifecycle::State &previous_state) override |
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hardware_interface::return_type | read (const rclcpp::Time &time, const rclcpp::Duration &period) override |
| Read the current state values from the actuator. More...
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hardware_interface::return_type | write (const rclcpp::Time &time, const rclcpp::Duration &period) override |
| Write the current command values to the actuator. More...
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| ActuatorInterface (const ActuatorInterface &other)=delete |
| ActuatorInterface copy constructor is actively deleted. More...
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| ActuatorInterface (ActuatorInterface &&other)=default |
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CallbackReturn | init (const HardwareInfo &hardware_info, rclcpp::Logger logger, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface) |
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virtual std::vector< StateInterface > | export_state_interfaces () |
| Exports all state interfaces for this hardware interface. More...
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virtual std::vector< hardware_interface::InterfaceDescription > | export_unlisted_state_interface_descriptions () |
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virtual std::vector< StateInterface::ConstSharedPtr > | on_export_state_interfaces () |
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virtual std::vector< CommandInterface > | export_command_interfaces () |
| Exports all command interfaces for this hardware interface. More...
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virtual std::vector< hardware_interface::InterfaceDescription > | export_unlisted_command_interface_descriptions () |
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virtual std::vector< CommandInterface::SharedPtr > | on_export_command_interfaces () |
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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...
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virtual return_type | perform_command_mode_switch (const std::vector< std::string > &, const std::vector< std::string > &) |
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return_type | trigger_read (const rclcpp::Time &time, const rclcpp::Duration &period) |
| Triggers the read method synchronously or asynchronously depending on the HardwareInfo. More...
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return_type | trigger_write (const rclcpp::Time &time, const rclcpp::Duration &period) |
| Triggers the write method synchronously or asynchronously depending on the HardwareInfo. More...
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virtual std::string | get_name () const |
| Get name of the actuator hardware. More...
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virtual std::string | get_group_name () const |
| Get name of the actuator hardware group to which it belongs to. More...
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const rclcpp_lifecycle::State & | get_lifecycle_state () const |
| Get life-cycle state of the actuator hardware. More...
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void | set_lifecycle_state (const rclcpp_lifecycle::State &new_state) |
| Set life-cycle state of the actuator hardware. More...
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void | set_state (const std::string &interface_name, const double &value) |
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double | get_state (const std::string &interface_name) const |
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void | set_command (const std::string &interface_name, const double &value) |
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double | get_command (const std::string &interface_name) const |
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rclcpp::Logger | get_logger () const |
| Get the logger of the ActuatorInterface. More...
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rclcpp::Clock::SharedPtr | get_clock () const |
| Get the clock of the ActuatorInterface. More...
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const HardwareInfo & | get_hardware_info () const |
| Get the hardware info of the ActuatorInterface. More...
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HardwareInfo | info_ |
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std::unordered_map< std::string, InterfaceDescription > | joint_state_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | joint_command_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | unlisted_state_interfaces_ |
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std::unordered_map< std::string, InterfaceDescription > | unlisted_command_interfaces_ |
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std::vector< StateInterface::SharedPtr > | joint_states_ |
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std::vector< CommandInterface::SharedPtr > | joint_commands_ |
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std::vector< StateInterface::SharedPtr > | unlisted_states_ |
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std::vector< CommandInterface::SharedPtr > | unlisted_commands_ |
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rclcpp_lifecycle::State | lifecycle_state_ |
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std::unique_ptr< realtime_tools::AsyncFunctionHandler< return_type > > | async_handler_ |
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