pr2_controller_interface::Controller Class Reference

#include <controller.h>

List of all members.

Public Types
enum	{ BEFORE_ME, AFTER_ME }
enum	{ CONSTRUCTED, INITIALIZED, RUNNING }
Public Member Functions
	Controller ()
template<class ControllerType >
bool	getController (const std::string &name, int sched, ControllerType *&c)
	Method to get access to another controller by name and type.
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)=0
	The init function is called to initialize the controller from a non-realtime thread.
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
	Check if the controller is running.
virtual void	starting ()
	The starting method is called just before the first update from within the realtime thread.
bool	startRequest ()
virtual void	stopping ()
	The stopping method is called by the realtime thread just after the last update call.
bool	stopRequest ()
virtual void	update (void)=0
	The update method is called periodically by the realtime thread when the controller is running.
void	updateRequest ()
virtual	~Controller ()
Public Attributes
std::vector< std::string >	after_list_
std::vector< std::string >	before_list_
enum pr2_controller_interface::Controller:: { ... }	state_
Private Member Functions
	Controller (const Controller &c)
Controller &	operator= (const Controller &c)
Private Attributes
ControllerProvider *	contr_prov_

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Detailed Description

Definition at line 53 of file controller.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

BEFORE_ME
AFTER_ME

Definition at line 56 of file controller.h.

anonymous enum

Enumerator:

CONSTRUCTED
INITIALIZED
RUNNING

Definition at line 162 of file controller.h.

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Constructor & Destructor Documentation

pr2_controller_interface::Controller::Controller

(

)

[inline]

Definition at line 58 of file controller.h.

virtual pr2_controller_interface::Controller::~Controller

(

)

[inline, virtual]

Definition at line 59 of file controller.h.

pr2_controller_interface::Controller::Controller

(

const Controller &

c

)

[private]

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Member Function Documentation

template<class ControllerType >

bool pr2_controller_interface::Controller::getController	(	const std::string &	name,
		int	sched,
		ControllerType *&	c
	)			[inline]

Method to get access to another controller by name and type.

Definition at line 86 of file controller.h.

virtual bool pr2_controller_interface::Controller::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)			[pure virtual]

The init function is called to initialize the controller from a non-realtime thread.

Parameters:

	robot	A RobotState object which can be used to read joint states and write out effort commands.
	n	A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface.

Returns:

True if initialization was successful and the controller is ready to be started.

bool pr2_controller_interface::Controller::initRequest	(	ControllerProvider *	cp,
		pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)			[inline]

Definition at line 142 of file controller.h.

bool pr2_controller_interface::Controller::isRunning

(

)

[inline]

Check if the controller is running.

Definition at line 106 of file controller.h.

Controller& pr2_controller_interface::Controller::operator=

(

const Controller &

c

)

[private]

virtual void pr2_controller_interface::Controller::starting

(

)

[inline, virtual]

The starting method is called just before the first update from within the realtime thread.

Definition at line 62 of file controller.h.

bool pr2_controller_interface::Controller::startRequest

(

)

[inline]

Definition at line 117 of file controller.h.

virtual void pr2_controller_interface::Controller::stopping

(

)

[inline, virtual]

The stopping method is called by the realtime thread just after the last update call.

Definition at line 68 of file controller.h.

bool pr2_controller_interface::Controller::stopRequest

(

)

[inline]

Definition at line 130 of file controller.h.

virtual void pr2_controller_interface::Controller::update

(

void

)

[pure virtual]

The update method is called periodically by the realtime thread when the controller is running.

void pr2_controller_interface::Controller::updateRequest

(

)

[inline]

Definition at line 111 of file controller.h.

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Member Data Documentation

std::vector<std::string> pr2_controller_interface::Controller::after_list_

Definition at line 160 of file controller.h.

std::vector<std::string> pr2_controller_interface::Controller::before_list_

Definition at line 160 of file controller.h.

ControllerProvider* pr2_controller_interface::Controller::contr_prov_ [private]

Definition at line 167 of file controller.h.

enum { ... } pr2_controller_interface::Controller::state_

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

• controller.h