Single joint controller. More...
#include <forward_command_controller.h>
Public Member Functions | |
ForwardCommandController () | |
bool | init (T *hw, ros::NodeHandle &n) |
void | starting (const ros::Time &time) |
void | update (const ros::Time &, const ros::Duration &) |
~ForwardCommandController () | |
Public Member Functions inherited from controller_interface::Controller< T > | |
virtual bool | init (T *, ros::NodeHandle &, ros::NodeHandle &) |
Public Member Functions inherited from controller_interface::ControllerBase | |
virtual void | aborting (const ros::Time &) |
virtual void | aborting (const ros::Time &) |
bool | abortRequest (const ros::Time &time) |
bool | abortRequest (const ros::Time &time) |
ControllerBase ()=default | |
ControllerBase (const ControllerBase &)=delete | |
ControllerBase (ControllerBase &&)=delete | |
bool | isAborted () const |
bool | isAborted () const |
bool | isInitialized () const |
bool | isInitialized () const |
bool | isRunning () const |
bool | isRunning () const |
bool | isStopped () const |
bool | isStopped () const |
bool | isWaiting () const |
bool | isWaiting () const |
ControllerBase & | operator= (const ControllerBase &)=delete |
ControllerBase & | operator= (ControllerBase &&)=delete |
bool | startRequest (const ros::Time &time) |
bool | startRequest (const ros::Time &time) |
virtual void | stopping (const ros::Time &) |
virtual void | stopping (const ros::Time &) |
bool | stopRequest (const ros::Time &time) |
bool | stopRequest (const ros::Time &time) |
void | updateRequest (const ros::Time &time, const ros::Duration &period) |
void | updateRequest (const ros::Time &time, const ros::Duration &period) |
virtual void | waiting (const ros::Time &) |
virtual void | waiting (const ros::Time &) |
bool | waitRequest (const ros::Time &time) |
bool | waitRequest (const ros::Time &time) |
virtual | ~ControllerBase ()=default |
Public Attributes | |
realtime_tools::RealtimeBuffer< double > | command_buffer_ |
hardware_interface::JointHandle | joint_ |
Public Attributes inherited from controller_interface::ControllerBase | |
ControllerState | state_ |
Private Member Functions | |
void | commandCB (const std_msgs::Float64ConstPtr &msg) |
Private Attributes | |
ros::Subscriber | sub_command_ |
Additional Inherited Members | |
Public Types inherited from controller_interface::ControllerBase | |
typedef std::vector< hardware_interface::InterfaceResources > | ClaimedResources |
enum | ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED } |
Protected Member Functions inherited from controller_interface::Controller< T > | |
std::string | getHardwareInterfaceType () const |
bool | initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override |
Single joint controller.
This class passes the command signal down to the joint. Command signal and joint hardware interface are of the same type, e.g. effort commands for an effort-controlled joint.
T | Type implementing the JointCommandInterface. |
type | hardware interface type. |
joint | Name of the joint to control. |
Subscribes to:
Definition at line 102 of file forward_command_controller.h.
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inline |
Definition at line 139 of file forward_command_controller.h.
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inline |
Definition at line 140 of file forward_command_controller.h.
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inlineprivate |
Definition at line 163 of file forward_command_controller.h.
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inlinevirtual |
Reimplemented from controller_interface::Controller< T >.
Definition at line 142 of file forward_command_controller.h.
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virtual |
Reimplemented from controller_interface::ControllerBase.
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inlinevirtual |
Implements controller_interface::ControllerBase.
Definition at line 156 of file forward_command_controller.h.
realtime_tools::RealtimeBuffer<double> forward_command_controller::ForwardCommandController< T >::command_buffer_ |
Definition at line 159 of file forward_command_controller.h.
hardware_interface::JointHandle forward_command_controller::ForwardCommandController< T >::joint_ |
Definition at line 158 of file forward_command_controller.h.
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private |
Definition at line 162 of file forward_command_controller.h.