15 #ifndef HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
16 #define HARDWARE_INTERFACE__HARDWARE_INFO_HPP_
19 #include <unordered_map>
22 #include "joint_limits/joint_limits.hpp"
54 std::size_t joint_index;
55 std::size_t mimicked_joint_index;
56 double multiplier = 1.0;
100 std::vector<std::string> state_interfaces;
101 std::vector<std::string> command_interfaces;
103 double mechanical_reduction = 1.0;
111 std::vector<std::string> state_interfaces;
112 std::vector<std::string> command_interfaces;
114 double mechanical_reduction = 1.0;
123 std::vector<JointInfo> joints;
124 std::vector<ActuatorInfo> actuators;
175 std::unordered_map<std::string, joint_limits::JointLimits>
limits;
182 std::unordered_map<std::string, joint_limits::SoftJointLimits>
soft_limits;
Definition: actuator.hpp:34
MimicAttribute
This enum is used to store the mimic attribute of a joint.
Definition: hardware_info.hpp:62
Contains semantic info about a given actuator loaded from URDF for a transmission.
Definition: hardware_info.hpp:109
Definition: hardware_info.hpp:73
std::vector< InterfaceInfo > command_interfaces
Definition: hardware_info.hpp:86
std::unordered_map< std::string, std::string > parameters
(Optional) Key-value pairs of component parameters, e.g. min/max values or serial number.
Definition: hardware_info.hpp:93
std::vector< InterfaceInfo > state_interfaces
Definition: hardware_info.hpp:91
std::string name
Name of the component.
Definition: hardware_info.hpp:75
MimicAttribute is_mimic
Hold the value of the mimic attribute if given, NOT_SET otherwise.
Definition: hardware_info.hpp:80
std::string type
Type of the component: sensor, joint, or GPIO.
Definition: hardware_info.hpp:77
This structure stores information about hardware defined in a robot's URDF.
Definition: hardware_info.hpp:131
std::string type
Type of the hardware: actuator, sensor or system.
Definition: hardware_info.hpp:135
std::vector< MimicJoint > mimic_joints
Definition: hardware_info.hpp:152
std::string hardware_plugin_name
Name of the pluginlib plugin of the hardware that will be loaded.
Definition: hardware_info.hpp:141
std::unordered_map< std::string, joint_limits::JointLimits > limits
Definition: hardware_info.hpp:175
std::unordered_map< std::string, std::string > hardware_parameters
(Optional) Key-value pairs for hardware parameters.
Definition: hardware_info.hpp:143
std::string group
Hardware group to which the hardware belongs.
Definition: hardware_info.hpp:137
bool is_async
Component is async.
Definition: hardware_info.hpp:139
std::unordered_map< std::string, joint_limits::SoftJointLimits > soft_limits
Definition: hardware_info.hpp:182
std::vector< ComponentInfo > gpios
Definition: hardware_info.hpp:162
std::vector< ComponentInfo > joints
Definition: hardware_info.hpp:148
std::string original_xml
Definition: hardware_info.hpp:171
std::string name
Name of the hardware.
Definition: hardware_info.hpp:133
std::vector< ComponentInfo > sensors
Definition: hardware_info.hpp:157
std::vector< TransmissionInfo > transmissions
Definition: hardware_info.hpp:167
Definition: hardware_info.hpp:31
std::string max
(Optional) Maximal allowed values of the interface.
Definition: hardware_info.hpp:40
std::string initial_value
(Optional) Initial value of the interface.
Definition: hardware_info.hpp:42
std::string name
Definition: hardware_info.hpp:36
int size
(Optional) If the handle is an array, the size of the array. Used by GPIOs.
Definition: hardware_info.hpp:46
std::string min
(Optional) Minimal allowed values of the interface.
Definition: hardware_info.hpp:38
std::string data_type
(Optional) The datatype of the interface, e.g. "bool", "int". Used by GPIOs.
Definition: hardware_info.hpp:44
bool enable_limits
(Optional) enable or disable the limits for the command interfaces
Definition: hardware_info.hpp:48
Contains semantic info about a given joint loaded from URDF for a transmission.
Definition: hardware_info.hpp:98
This structure stores information about a joint that is mimicking another joint.
Definition: hardware_info.hpp:53
Contains semantic info about a given transmission loaded from URDF.
Definition: hardware_info.hpp:120
std::unordered_map< std::string, std::string > parameters
(Optional) Key-value pairs of custom parameters
Definition: hardware_info.hpp:126