pr2_controller_manager::ControllerManager Class Reference

#include <controller_manager.h>

Public Member Functions
	ControllerManager (pr2_hardware_interface::HardwareInterface *hw, const ros::NodeHandle &nh=ros::NodeHandle())
virtual pr2_controller_interface::Controller *	getControllerByName (const std::string &name)
bool	initXml (TiXmlElement *config)
bool	loadController (const std::string &name)
bool	switchController (const std::vector< std::string > &start_controllers, const std::vector< std::string > &stop_controllers, const int strictness)
bool	unloadController (const std::string &name)
void	update ()
virtual	~ControllerManager ()
Public Attributes
pr2_mechanism_model::Robot	model_
pr2_mechanism_model::RobotState *	state_
Private Member Functions
void	getControllerNames (std::vector< std::string > &v)
void	getControllerSchedule (std::vector< size_t > &schedule)
bool	listControllersSrv (pr2_mechanism_msgs::ListControllers::Request &req, pr2_mechanism_msgs::ListControllers::Response &resp)
bool	listControllerTypesSrv (pr2_mechanism_msgs::ListControllerTypes::Request &req, pr2_mechanism_msgs::ListControllerTypes::Response &resp)
bool	loadControllerSrv (pr2_mechanism_msgs::LoadController::Request &req, pr2_mechanism_msgs::LoadController::Response &resp)
void	publishJointState ()
void	publishMechanismStatistics ()
bool	reloadControllerLibrariesSrv (pr2_mechanism_msgs::ReloadControllerLibraries::Request &req, pr2_mechanism_msgs::ReloadControllerLibraries::Response &resp)
bool	switchControllerSrv (pr2_mechanism_msgs::SwitchController::Request &req, pr2_mechanism_msgs::SwitchController::Response &resp)
bool	unloadControllerSrv (pr2_mechanism_msgs::UnloadController::Request &req, pr2_mechanism_msgs::UnloadController::Response &resp)
Private Attributes
ros::NodeHandle	cm_node_
boost::shared_ptr < pluginlib::ClassLoader < pr2_controller_interface::Controller > >	controller_loader_
ros::NodeHandle	controller_node_
std::vector< ControllerSpec >	controllers_lists_ [2]
boost::mutex	controllers_lock_
std::vector< size_t >	controllers_scheduling_ [2]
int	current_controllers_list_
ros::Time	last_published_joint_state_
ros::Time	last_published_mechanism_stats_
bool	motors_previously_halted_
bool	please_switch_
Statistics	post_update_stats_
Statistics	pre_update_stats_
realtime_tools::RealtimePublisher < sensor_msgs::JointState >	pub_joint_state_
realtime_tools::RealtimePublisher < pr2_mechanism_msgs::MechanismStatistics >	pub_mech_stats_
ros::Duration	publish_period_joint_state_
ros::Duration	publish_period_mechanism_stats_
boost::mutex	services_lock_
ros::ServiceServer	srv_list_controller_types_
ros::ServiceServer	srv_list_controllers_
ros::ServiceServer	srv_load_controller_
ros::ServiceServer	srv_reload_libraries_
ros::ServiceServer	srv_switch_controller_
ros::ServiceServer	srv_unload_controller_
std::vector < pr2_controller_interface::Controller * >	start_request_
std::vector < pr2_controller_interface::Controller * >	stop_request_
int	switch_strictness_
Statistics	update_stats_
int	used_by_realtime_

Detailed Description

Definition at line 57 of file controller_manager.h.

Constructor & Destructor Documentation

pr2_controller_manager::ControllerManager::ControllerManager	(	pr2_hardware_interface::HardwareInterface *	hw,
		const ros::NodeHandle &	nh = `ros::NodeHandle()`
	)

ControllerManager::~ControllerManager ( ) [virtual]

Definition at line 63 of file controller_manager.cpp.

Member Function Documentation

pr2_controller_interface::Controller * ControllerManager::getControllerByName ( const std::string & name ) [virtual]

Definition at line 191 of file controller_manager.cpp.

void ControllerManager::getControllerNames ( std::vector< std::string > & v ) [private]

Definition at line 202 of file controller_manager.cpp.

void ControllerManager::getControllerSchedule ( std::vector< size_t > & schedule ) [private]

Definition at line 212 of file controller_manager.cpp.

bool ControllerManager::initXml ( TiXmlElement * config )

Definition at line 70 of file controller_manager.cpp.

bool ControllerManager::listControllersSrv	(	pr2_mechanism_msgs::ListControllers::Request &	req,
		pr2_mechanism_msgs::ListControllers::Response &	resp
	)			`[private]`

Definition at line 753 of file controller_manager.cpp.

bool ControllerManager::listControllerTypesSrv	(	pr2_mechanism_msgs::ListControllerTypes::Request &	req,
		pr2_mechanism_msgs::ListControllerTypes::Response &	resp
	)			`[private]`

Definition at line 734 of file controller_manager.cpp.

bool ControllerManager::loadController ( const std::string & name )

Definition at line 219 of file controller_manager.cpp.

bool ControllerManager::loadControllerSrv	(	pr2_mechanism_msgs::LoadController::Request &	req,
		pr2_mechanism_msgs::LoadController::Response &	resp
	)			`[private]`

Definition at line 790 of file controller_manager.cpp.

void ControllerManager::publishJointState ( ) [private]

Definition at line 555 of file controller_manager.cpp.

void ControllerManager::publishMechanismStatistics ( ) [private]

Definition at line 591 of file controller_manager.cpp.

bool ControllerManager::reloadControllerLibrariesSrv	(	pr2_mechanism_msgs::ReloadControllerLibraries::Request &	req,
		pr2_mechanism_msgs::ReloadControllerLibraries::Response &	resp
	)			`[private]`

Definition at line 684 of file controller_manager.cpp.

bool ControllerManager::switchController	(	const std::vector< std::string > &	start_controllers,
		const std::vector< std::string > &	stop_controllers,
		const int	strictness
	)

Definition at line 468 of file controller_manager.cpp.

bool ControllerManager::switchControllerSrv	(	pr2_mechanism_msgs::SwitchController::Request &	req,
		pr2_mechanism_msgs::SwitchController::Response &	resp
	)			`[private]`

Definition at line 822 of file controller_manager.cpp.

bool ControllerManager::unloadController ( const std::string & name )

Definition at line 370 of file controller_manager.cpp.

bool ControllerManager::unloadControllerSrv	(	pr2_mechanism_msgs::UnloadController::Request &	req,
		pr2_mechanism_msgs::UnloadController::Response &	resp
	)			`[private]`

Definition at line 806 of file controller_manager.cpp.

void ControllerManager::update ( )

Definition at line 126 of file controller_manager.cpp.

Member Data Documentation

ros::NodeHandle pr2_controller_manager::ControllerManager::cm_node_ [private]

Definition at line 83 of file controller_manager.h.

boost::shared_ptr<pluginlib::ClassLoader<pr2_controller_interface::Controller> > pr2_controller_manager::ControllerManager::controller_loader_ [private]

Definition at line 84 of file controller_manager.h.

ros::NodeHandle pr2_controller_manager::ControllerManager::controller_node_ [private]

Definition at line 83 of file controller_manager.h.

std::vector<ControllerSpec> pr2_controller_manager::ControllerManager::controllers_lists_[2] [private]

Definition at line 93 of file controller_manager.h.

boost::mutex pr2_controller_manager::ControllerManager::controllers_lock_ [private]

Definition at line 92 of file controller_manager.h.

std::vector<size_t> pr2_controller_manager::ControllerManager::controllers_scheduling_[2] [private]

Definition at line 94 of file controller_manager.h.

int pr2_controller_manager::ControllerManager::current_controllers_list_ [private]

Definition at line 95 of file controller_manager.h.

ros::Time pr2_controller_manager::ControllerManager::last_published_joint_state_ [private]