HardwareInterface Class Reference

Implements an abstract class for robot hardware interfaces. More...

#include <hardware_interface.h>

Inheritance diagram for HardwareInterface:

Public Member Functions
	HardwareInterface ()
	Constructor for HardwareInterface.
virtual void	loadInterface (int argc, char **argv)=0
	Load the hardware interface.
virtual void	unloadInterface ()=0
	Unload the hardware interface.
virtual bool	send (const quad_msgs::LegCommandArray &leg_command_array_msg, const Eigen::VectorXd &user_tx_data)=0
	Send commands to the robot.
virtual bool	recv (sensor_msgs::JointState &joint_state_msg, sensor_msgs::Imu &imu_msg, Eigen::VectorXd &user_rx_data)=0
	Recieve data from the robot.

Detailed Description

Implements an abstract class for robot hardware interfaces.

HardwareInterface provides an abstract robot hardware interface class. The virtual functions declared here must be implemented by the derived class.

Constructor & Destructor Documentation

HardwareInterface()

HardwareInterface::HardwareInterface

(

)

Constructor for HardwareInterface.

Returns

Constructed object of type HardwareInterface

Member Function Documentation

loadInterface()

virtual void HardwareInterface::loadInterface ( int  argc, char **  argv  )

pure virtual

Load the hardware interface.

Parameters

[in]	argc	Argument count
[in]	argv	Argument vector

Implemented in SpiritInterface.

recv()

virtual bool HardwareInterface::recv ( sensor_msgs::JointState &  joint_state_msg, sensor_msgs::Imu &  imu_msg, Eigen::VectorXd &  user_rx_data  )

pure virtual

Recieve data from the robot.

Parameters

[out]	joint_state_msg	Message containing joint state information
[out]	imu_msg	Message containing imu information
[out]	user_data	Vector containing user data

Returns

Boolean for whether data was successfully received

Implemented in SpiritInterface.

send()

virtual bool HardwareInterface::send ( const quad_msgs::LegCommandArray &  leg_command_array_msg, const Eigen::VectorXd &  user_tx_data  )

pure virtual

Send commands to the robot.

Parameters

[in]	leg_command_array_msg	Message containing leg commands
[in]	user_data	Vector containing user data

Returns

boolean indicating success of transmission

Implemented in SpiritInterface.

unloadInterface()

virtual void HardwareInterface::unloadInterface ( )

pure virtual

Unload the hardware interface.

Implemented in SpiritInterface.

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

• robot_driver/include/robot_driver/hardware_interfaces/hardware_interface.h
• robot_driver/src/hardware_interfaces/hardware_interface.cpp