OpenJAUS Software Development Kit  4.3.1
Public Member Functions | Static Public Member Functions | List of all members
openjaus::manipulator::ManipulatorJointForceTorqueSensorInterface Class Referenceabstract

Provides an abstract interface for the ManipulatorJointForceTorqueSensor service. More...

#include <ManipulatorJointForceTorqueSensorInterface.h>

Inherits openjaus::core::EventsInterface.

Inherited by openjaus::manipulator::services::ManipulatorJointForceTorqueSensor [virtual].

Public Member Functions

virtual ~ManipulatorJointForceTorqueSensorInterface ()
 
virtual ReportJointForceTorque getReportJointForceTorque (QueryJointForceTorque *queryJointForceTorque)=0
 Send Report Joint Force Torque message to the service that sent the query Send Report Joint Force Torque message to the service that sent the query. More...
 
virtual ReportManipulatorSpecifications getReportManipulatorSpecifications (QueryManipulatorSpecifications *queryManipulatorSpecifications)=0
 Send a report manipulator specs message Send a report manipulator specs message. More...
 
- Public Member Functions inherited from openjaus::core::EventsInterface
virtual ~EventsInterface ()
 
virtual bool createEvent (CreateEvent *createEvent)=0
 CreateEvent action with input CreateEvent. More...
 
virtual bool processEvent (ProcessEventRequest *processEventRequest)=0
 ProcessEvent action with input ProcessEventRequest. More...
 
virtual bool resetEventTimer (CreateEvent *createEvent)=0
 ResetEventTimer action with input CreateEvent. More...
 
virtual bool resetEventTimer (UpdateEvent *updateEvent)=0
 ResetEventTimer action with input UpdateEvent. More...
 
virtual bool updateEvent (CreateEvent *createEvent)=0
 UpdateEvent action with input CreateEvent. More...
 
virtual bool updateEvent (UpdateEvent *updateEvent)=0
 UpdateEvent action with input UpdateEvent. More...
 
virtual bool cancelEvent (CancelEvent *cancelEvent)=0
 CancelEvent action with input CancelEvent. More...
 
virtual bool stopEventTimer (CancelEvent *cancelEvent)=0
 StopEventTimer action with input CancelEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CreateEvent *createEvent)=0
 Send action for RejectEventRequest with input message CreateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (UpdateEvent *updateEvent)=0
 Send action for RejectEventRequest with input message UpdateEvent. More...
 
virtual RejectEventRequest getRejectEventRequest (CancelEvent *cancelEvent)=0
 Send action for RejectEventRequest with input message CancelEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CreateEvent *createEvent)=0
 Send action for ConfirmEventRequest with input message CreateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (UpdateEvent *updateEvent)=0
 Send action for ConfirmEventRequest with input message UpdateEvent. More...
 
virtual ConfirmEventRequest getConfirmEventRequest (CancelEvent *cancelEvent)=0
 Send action for ConfirmEventRequest with input message CancelEvent. More...
 
virtual ReportEvents getReportEvents (QueryEvents *queryEvents)=0
 Send action for ReportEvents with input message QueryEvents. More...
 
virtual ReportEventTimeout getReportEventTimeout (QueryEventTimeout *queryEventTimeout)=0
 Send action for ReportEventTimeout with input message QueryEventTimeout. More...
 
virtual bool confirmEvent (ConfirmEventRequest *confirmEventRequest)=0
 ConfirmEvent action with input ConfirmEventRequest. More...
 
virtual bool rejectEvent (RejectEventRequest *rejectEventRequest)=0
 RejectEvent action with input RejectEventRequest. More...
 
virtual bool handleIncomingEvent (Event *event)=0
 HandleIncomingEvent action with input Event. More...
 
virtual bool handleReportEvents (ReportEvents *reportEvents)=0
 HandleReportEvents action with input ReportEvents. More...
 
virtual bool isSupported (CreateEvent *createEvent)=0
 isSupported condition. More...
 
virtual bool isSupported (UpdateEvent *updateEvent)=0
 isSupported condition. More...
 
virtual bool eventExists (CreateEvent *createEvent)=0
 eventExists condition. More...
 
virtual bool eventExists (UpdateEvent *updateEvent)=0
 eventExists condition. More...
 
virtual bool eventExists (CancelEvent *cancelEvent)=0
 eventExists condition. More...
 
- Public Member Functions inherited from openjaus::core::TransportInterface
virtual ~TransportInterface ()
 
virtual bool enqueue (model::Trigger *trigger)=0
 Convert the destination address into an unsigned integer such that the ComponentID maps to the least significant byte, NodeID to the next least significant byte and SubsystemID maps onto the remaining two bytes of the integer. More...
 
virtual bool broadcastLocalEnqueue (model::Trigger *trigger)=0
 Package the message as specified by the transport layer specification and send it to all endpoints in the local subsystem. More...
 
virtual bool broadcastGlobalEnqueue (model::Trigger *trigger)=0
 Package the message as specified by the transport layer specification and send it to all endpoints on all subsystems. More...
 
virtual bool sendMessage (model::Trigger *trigger)=0
 SendMessage action with input SendMessage. More...
 
virtual bool broadcastToNode (model::Trigger *trigger)=0
 Broadcasts message to all components within the local node Broadcasts message to all components within the local node. More...
 
virtual bool broadcastToSubsystem (model::Trigger *trigger)=0
 Broadcasts a given message to all nodes in the local subsystem (equivalent to broadcast local enqueue) Broadcasts a given message to all nodes in the local subsystem (equivalent to broadcast local enqueue) More...
 
virtual bool broadcastToSystem (model::Trigger *trigger)=0
 Broadcasts the message to all subsystems on the JAUS network (equivalent to broadcast global enqueue) Broadcasts the message to all subsystems on the JAUS network (equivalent to broadcast global enqueue) More...
 
virtual bool checkTransportPolicy (model::Trigger *trigger)=0
 CheckTransportPolicy action with input CheckTransportPolicy. More...
 
virtual ReportTransportPolicy getReportTransportPolicy (QueryTransportPolicy *queryTransportPolicy)=0
 Send action for ReportTransportPolicy with input message QueryTransportPolicy. More...
 
virtual bool storeTransportPolicy (ReportTransportPolicy *reportTransportPolicy)=0
 StoreTransportPolicy action with input ReportTransportPolicy. More...
 

Static Public Member Functions

static OPENJAUS_DEPRECATED model::Service ManipulatorJointForceTorqueSensorService ()
 Builds a default instance of the ManipulatorJointForceTorqueSensor Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string ManipulatorJointForceTorqueSensorUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::EventsInterface
static OPENJAUS_DEPRECATED model::Service EventsService ()
 Builds a default instance of the Events Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string EventsUri ()
 Static accessor for Service URI. More...
 
- Static Public Member Functions inherited from openjaus::core::TransportInterface
static OPENJAUS_DEPRECATED model::Service TransportService ()
 Builds a default instance of the Transport Service and populates the URI and Version numbers. More...
 
static OPENJAUS_DEPRECATED std::string TransportUri ()
 Static accessor for Service URI. More...
 

Detailed Description

The function of the Joint Force/Torque Sensor is to report the values of instantaneous torques (for revolute joints) and forces (for prismatic joints) that are applied at the individual joints of the manipulator kinematic model when queried.



URI: urn:jaus:jss:manipulator:ManipulatorJointForceTorqueSensor

Version: 1.0

Inherits From:

Constructor & Destructor Documentation

§ ~ManipulatorJointForceTorqueSensorInterface()

virtual openjaus::manipulator::ManipulatorJointForceTorqueSensorInterface::~ManipulatorJointForceTorqueSensorInterface ( )
inlinevirtual

Member Function Documentation

§ getReportJointForceTorque()

virtual ReportJointForceTorque openjaus::manipulator::ManipulatorJointForceTorqueSensorInterface::getReportJointForceTorque ( QueryJointForceTorque queryJointForceTorque)
pure virtual
Parameters
[in]queryJointForceTorque- Input Trigger.
Returns
ReportJointForceTorque Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointForceTorqueSensor.

§ getReportManipulatorSpecifications()

virtual ReportManipulatorSpecifications openjaus::manipulator::ManipulatorJointForceTorqueSensorInterface::getReportManipulatorSpecifications ( QueryManipulatorSpecifications queryManipulatorSpecifications)
pure virtual
Parameters
[in]queryManipulatorSpecifications- Input Trigger.
Returns
ReportManipulatorSpecifications Output Message.

Implemented in openjaus::manipulator::services::ManipulatorJointForceTorqueSensor.

§ ManipulatorJointForceTorqueSensorService()

static OPENJAUS_DEPRECATED model::Service openjaus::manipulator::ManipulatorJointForceTorqueSensorInterface::ManipulatorJointForceTorqueSensorService ( )
inlinestatic
Returns
model::Service - The populated service.

§ ManipulatorJointForceTorqueSensorUri()

static OPENJAUS_DEPRECATED std::string openjaus::manipulator::ManipulatorJointForceTorqueSensorInterface::ManipulatorJointForceTorqueSensorUri ( )
inlinestatic
Returns
std::string - Service URI

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