sas_robot_driver_subclass_example_py.ExampleRobotDriver Class Reference

Inheritance diagram for sas_robot_driver_subclass_example_py.ExampleRobotDriver:

Public Member Functions
	__init__ (self, ShutdownSignaler ss)
	connect (self)
	disconnect (self)
	initialize (self)
	deinitialize (self)
	get_joint_positions (self)
	set_target_joint_positions (self, target_joint_positions_rad)

Public Attributes
	joint_positions = None

Static Public Attributes
bool	break_loop = False

Detailed Description

@class ExampleRobotDriver
@brief Example RobotDriver subclass.

Minimal example showing the typical methods required by a RobotDriver
implementation.

Constructor & Destructor Documentation

__init__()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.__init__	(		self,
		ShutdownSignaler	ss )

@brief Constructor.
@param ss ShutdownSignaler instance used by the base RobotDriver to
          coordinate shutdown requests.

Member Function Documentation

connect()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.connect

(

self

)

@brief Establish connection to the robot/hardware.
@return None

deinitialize()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.deinitialize

(

self

)

@brief Deinitialize the robot driver (clean up resources).
@return None

disconnect()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.disconnect

(

self

)

@brief Terminate connection to the robot/hardware.
@return None

get_joint_positions()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.get_joint_positions

(

self

)

@brief Get the current joint positions.
@return numpy.ndarray or None Current joint positions in radians, or None if unknown.

initialize()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.initialize

(

self

)

@brief Initialize the robot driver (bring hardware to an operational state).
@return None

set_target_joint_positions()

sas_robot_driver_subclass_example_py.ExampleRobotDriver.set_target_joint_positions	(		self,
			target_joint_positions_rad )

@brief Set the desired joint positions (target).
@param target_joint_positions_rad numpy.ndarray Target joint positions in radians.
@return None

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

• src/sas_core/scripts/sas_robot_driver_subclass_example_py.py