Inheritance diagram for dg_blmc_robots::DGMSingleMotor:

Collaboration diagram for dg_blmc_robots::DGMSingleMotor:

Public Member Functions
	DGMSingleMotor ()
	DGMSingleMotor is the constructor.

	~DGMSingleMotor ()
	~DGMSingleMotor is the destructor.

void	initialize_hardware_communication_process ()
	initialize_hardware_communication_process is the function that initialize the hardware.

void	get_sensors_to_map (dynamic_graph::VectorDGMap &map)
	get_sensors_to_map acquires the sensors data and feed it to the input/output map More...

void	set_motor_controls_from_map (const dynamic_graph::VectorDGMap &map)
	set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware. More...

Private Attributes
blmc_robots::SingleMotor	single_motor_
	Entries for the real hardware. More...

Vector1d	ctrl_joint_torques_
	ctrl_joint_torques_ the motor torque to be sent

bool	was_in_safety_mode_
	was_in_safety_mode_ Toggle to keep in safety mode once it was entered.

Member Function Documentation

void dg_blmc_robots::DGMSingleMotor::get_sensors_to_map ( dynamic_graph::VectorDGMap & map )

get_sensors_to_map acquires the sensors data and feed it to the input/output map

Parameters

[in]

void dg_blmc_robots::DGMSingleMotor::set_motor_controls_from_map ( const dynamic_graph::VectorDGMap & map )

set_motor_controls_from_map reads the input map that contains the controls and send these controls to the hardware.

Parameters

map

Member Data Documentation

blmc_robots::SingleMotor dg_blmc_robots::DGMSingleMotor::single_motor_

private

Entries for the real hardware.

single_motor_ the real motor hardware drivers.

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