MoveIt! does not enforce how controllers are implemented. To make your controllers usable by MoveIt, this interface needs to be implemented. The main purpose of this interface is to expose the set of known controllers and potentially to allow activating and deactivating them, if multiple controllers are available. More...
#include <controller_manager.h>
Classes | |
| struct | ControllerState |
| Each controller known to MoveIt has a state. This structure describes that controller's state. More... | |
Public Member Functions | |
| virtual void | getActiveControllers (std::vector< std::string > &names)=0 |
| Get the list of active controllers. If there is only one controller in the system, this will be active. In cases where multiple controllers exist, and they operate on overlaping sets of joints, not all controllers should be active at the same time. | |
| virtual MoveItControllerHandlePtr | getControllerHandle (const std::string &name)=0 |
| Controllers are managed by name. Given a name, return an object that can perform operations on the corresponding controller. | |
| virtual void | getControllerJoints (const std::string &name, std::vector< std::string > &joints)=0 |
| In order to decide which controller to use, it is necessary to reason about the joints a controller operates on. This function reports the joints a controller operates on, given the controller name. | |
| virtual void | getControllersList (std::vector< std::string > &names)=0 |
| Get the list of known controller names. | |
| virtual ControllerState | getControllerState (const std::string &name)=0 |
| Report the state of a controller, given its name. | |
| MoveItControllerManager () | |
| Default constructor. This needs to have no arguments so that the plugin system can construct the object. | |
| virtual bool | switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate)=0 |
| Activate and deactivate controllers. | |
| virtual | ~MoveItControllerManager () |
MoveIt! does not enforce how controllers are implemented. To make your controllers usable by MoveIt, this interface needs to be implemented. The main purpose of this interface is to expose the set of known controllers and potentially to allow activating and deactivating them, if multiple controllers are available.
Definition at line 144 of file controller_manager.h.
Default constructor. This needs to have no arguments so that the plugin system can construct the object.
Definition at line 167 of file controller_manager.h.
| virtual moveit_controller_manager::MoveItControllerManager::~MoveItControllerManager | ( | ) | [inline, virtual] |
Definition at line 171 of file controller_manager.h.
| virtual void moveit_controller_manager::MoveItControllerManager::getActiveControllers | ( | std::vector< std::string > & | names | ) | [pure virtual] |
Get the list of active controllers. If there is only one controller in the system, this will be active. In cases where multiple controllers exist, and they operate on overlaping sets of joints, not all controllers should be active at the same time.
| virtual MoveItControllerHandlePtr moveit_controller_manager::MoveItControllerManager::getControllerHandle | ( | const std::string & | name | ) | [pure virtual] |
Controllers are managed by name. Given a name, return an object that can perform operations on the corresponding controller.
| virtual void moveit_controller_manager::MoveItControllerManager::getControllerJoints | ( | const std::string & | name, |
| std::vector< std::string > & | joints | ||
| ) | [pure virtual] |
In order to decide which controller to use, it is necessary to reason about the joints a controller operates on. This function reports the joints a controller operates on, given the controller name.
| virtual void moveit_controller_manager::MoveItControllerManager::getControllersList | ( | std::vector< std::string > & | names | ) | [pure virtual] |
Get the list of known controller names.
| virtual ControllerState moveit_controller_manager::MoveItControllerManager::getControllerState | ( | const std::string & | name | ) | [pure virtual] |
Report the state of a controller, given its name.
| virtual bool moveit_controller_manager::MoveItControllerManager::switchControllers | ( | const std::vector< std::string > & | activate, |
| const std::vector< std::string > & | deactivate | ||
| ) | [pure virtual] |
Activate and deactivate controllers.