| Ckaco::Address | Tuple of object dictionary index and subindex |
| Ckaco::Bridge | This class is a bridge between a ROS network and a CanOpen network |
| Ckaco::Config | This class holds global configuration |
| Ckaco::Core | This class implements the Core of KaCanOpen It communicates with the CAN driver, sends CAN messages and listens for incoming CAN messages. You can access CanOpen sub- protocols using public members nmt, sdo and pdo |
| Ckaco::Device | This class represents a CanOpen slave device in the network |
| Ckaco::EDSLibrary | This class provides access to KaCanOpen's EDS library. It manages device specific as well as generic CanOpen dictionaries |
| Ckaco::EDSReader | This class allows reading EDS files (like standardized in CiA 306) and inserting all contained entries into a dictionary of type std::unordered_map<Address, Entry> and a map std::unordered_map<std::string, Address> It makes use of Boost's property_tree class |
| Ckaco::Entry | This class represents an entry in the object dictionary of a device |
| ▼Cstd::exception | STL class |
| ▼Cstd::runtime_error | STL class |
| ▼Ckaco::canopen_error | This is the base class of all types of exceptions thrown by the KaCanOpen library. It can be used directly like std::runtime_error if there isn't any more specific error class |
| Ckaco::dictionary_error | This type of exception is thrown if there are problems accessing the object dictionary or arguments don't match the type of a dictionary entry. You can get the type of the error via get_type() and the name of the causing entry via get_entry_name() |
| Ckaco::sdo_error | This type of exception is thrown when there are problems while accessing devices via SDO. Most of the errors are reported by the device itself via SDO abort transfer protocol. There are also some internal errors like timeout while waiting for response. You can get the type of error via get_type() |
| Cstd::hash< kaco::Address > | Specialization of std::hash for kaco::Address for use as key type in std::unordered_map |
| Ckaco::Mapping | This struct represents one mapped entry inside a TransmitPDOMapping |
| Ckaco::Master | This class represents a master node. It listens for new slaves and provides access to them via get_slaves() |
| Ckaco::Message | This struct represents a CANOpen message |
| Ckaco::NMT | This class implements the CanOpen NMT protocol |
| Ckaco::PDO | This class implements the CanOpen PDO protocol |
| Ckaco::PDO::PDOReceivedCallback | A PDO message receiver function together with it's COB-ID Important: Never call add_pdo_received_callback or process_incoming_message from within (-> deadlock)! |
| Ckaco::Profiles | This class profides static data related to CiA profiles. This includes profile-specific convenience operations and constants. Names must be escaped using Utils::escape() |
| ▼Ckaco::Publisher | Interface, which provides methods for publishing topics |
| Ckaco::EntryPublisher | This class provides a Publisher implementation for use with kaco::Bridge. It publishes a value from a device's dictionary |
| Ckaco::JointStatePublisher | This class provides a Publisher implementation for use with kaco::Bridge and a CiA 402 motor device. It publishes the motor state as JointState messages from the ROS common_messages package |
| Ckaco::ReceivePDOMapping | This struct represents a mapping from one receive PDO to one dictionary entry. There may be multiple ReceivePDOMapping instances for one PDO |
| Ckaco::SDO | This class implements the CanOpen SDO protocol |
| Ckaco::SDOResponse | This struct contains the response of a SDO request. Note that there are two types of response - segmented and expedited. Index, subindex and get_data() are not valid in segmented responses |
| ▼Ckaco::Subscriber | Interface, which provides methods for subscribing topics |
| Ckaco::EntrySubscriber | This class provides a Publisher implementation for use with kaco::Bridge. It publishes a value from a device's dictionary |
| Ckaco::JointStateSubscriber | This class provides a Subscriber implementation for use with kaco::Bridge and a CiA 402 motor device. It listens for JointState messages from ROS common_messages package and updates the motor device accordingly |
| Ckaco::TransmitPDOMapping | This class represents a mapping from one or more dictionary entries to one transmit PDO, which will be sent by an instance of this class repeatedly |
| Ckaco::Utils | This class provides various static utility functions |
| Ckaco::Value | This class contains a value to be stored in the object dictionary. The value can have one of the types which are supported by the KaCanOpen library (see enum Type). It's very similar to Boost's variant type, but a bit simpler |
1.8.7
