chrono::ros::ChROSViperDCMotorControlHandler Class Reference
Description
This handler is responsible for interfacing a ViperDCMotorControl driver to ROS.
Will instantiate a subscriber to chrono_ros_interfaces::msg::ViperDCMotorControl.
#include <ChROSViperDCMotorControlHandler.h>
Inheritance diagram for chrono::ros::ChROSViperDCMotorControlHandler:
Collaboration diagram for chrono::ros::ChROSViperDCMotorControlHandler:
Public Member Functions | |
| ChROSViperDCMotorControlHandler (double update_rate, std::shared_ptr< chrono::viper::ViperDCMotorControl > driver, const std::string &topic_name) | |
| Constructor. Takes a ViperDCMotorControl driver. | |
| virtual bool | Initialize (std::shared_ptr< ChROSInterface > interface) override |
| Initializes the handler. | |
 Public Member Functions inherited from chrono::ros::ChROSHandler | |
| virtual | ~ChROSHandler ()=default |
| Destructor for the ChROSHandler. | |
| virtual void | Update (double time, double step) final |
| Updates the internal clock and checks if a tick should occur. More... | |
| const double | GetUpdateRate () const |
| Get the period which this handler operates at. | |
| const uint64_t | GetTickCount () const |
| Get the number of times Tick() has been called. | |
Protected Member Functions | |
| virtual void | Tick (double time) override |
| Updates the driver with stored inputs data from Callback. | |
| Protected Member Functions inherited from chrono::ros::ChROSHandler | |
| ChROSHandler (double update_rate) | |
| Constructor for the ChROSHandler. More... | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/viper/ChROSViperDCMotorControlHandler.h
- /builds/uwsbel/chrono/src/chrono_ros/handlers/robot/viper/ChROSViperDCMotorControlHandler.cpp
