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.
void	starting (const ros::Time &time)
virtual void	starting ()
	The starting method is called just before the first update from within the realtime thread.
bool	startRequest ()
void	stopping (const ros::Time &time)
virtual void	stopping ()
	The stopping method is called by the realtime thread just after the last update call.
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
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 166 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 90 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 146 of file controller.h.

bool pr2_controller_interface::Controller::isRunning

(

)

[inline]

Check if the controller is running.

Definition at line 110 of file controller.h.

Controller& pr2_controller_interface::Controller::operator=

(

const Controller &

c

)

[private]

void pr2_controller_interface::Controller::starting

(

const ros::Time &

time

)

[inline]

Definition at line 61 of file controller.h.

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 66 of file controller.h.

bool pr2_controller_interface::Controller::startRequest

(

)

[inline]

Definition at line 121 of file controller.h.

void pr2_controller_interface::Controller::stopping

(

const ros::Time &

time

)

[inline]

Definition at line 63 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 72 of file controller.h.

bool pr2_controller_interface::Controller::stopRequest

(

)

[inline]

Definition at line 134 of file controller.h.

void pr2_controller_interface::Controller::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[inline]

Definition at line 62 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 115 of file controller.h.

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Member Data Documentation

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

Definition at line 164 of file controller.h.

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

Definition at line 164 of file controller.h.

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

Definition at line 171 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