SpiritInterface Class Reference

Hardware interface for the Spirit40 quadruped from Ghost Robotics. More...

#include <spirit_interface.h>

Inheritance diagram for SpiritInterface:

Collaboration diagram for SpiritInterface:

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

Public Attributes
MBLink	mblink_
	Pointer to MBLink object.
MBData_t	mbdata_
	Mainboard data.
std::vector< std::string >	joint_names_
	Vector of joint names.
std::vector< int >	joint_indices_ = {8, 0, 1, 9, 2, 3, 10, 4, 5, 11, 6, 7}
	Vector denoting joint indices.
std::vector< double >	kt_vec_
	Vector of kt values for each joint.

Detailed Description

Hardware interface for the Spirit40 quadruped from Ghost Robotics.

SpiritInterface listens for joint control messages and outputs low level commands to the mainboard over mblink.

Constructor & Destructor Documentation

SpiritInterface()

SpiritInterface::SpiritInterface

(

)

Constructor for SpiritInterface.

Returns

Constructed object of type SpiritInterface

Member Function Documentation

loadInterface()

void SpiritInterface::loadInterface ( int  argc, char **  argv  )

virtual

Load the hardware interface.

Parameters

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

Ghost MBLink interface class

Implements HardwareInterface.

recv()

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

virtual

Recieve data from the robot via the mblink protocol.

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

Implements HardwareInterface.

send()

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

virtual

Send commands to the robot via the mblink protocol.

Parameters

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

Returns

boolean indicating success of transmission

Implements HardwareInterface.

unloadInterface()

void SpiritInterface::unloadInterface ( )

virtual

Unload the hardware interface.

Implements HardwareInterface.

Member Data Documentation

joint_names_

std::vector<std::string> SpiritInterface::joint_names_

Initial value:

= {"8",  "0", "1", "9",  "2", "3",
                                           "10", "4", "5", "11", "6", "7"}

Vector of joint names.

kt_vec_

std::vector<double> SpiritInterface::kt_vec_

Initial value:

= {0.546, 0.546, 1.092, 0.546, 0.546, 1.092,
                                 0.546, 0.546, 1.092, 0.546, 0.546, 1.092}

Vector of kt values for each joint.

---

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

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