.. _file_include_as2_motion_controller_controller_base.hpp:

File controller_base.hpp
========================

|exhale_lsh| :ref:`Parent directory <dir_include_as2_motion_controller>` (``include/as2_motion_controller``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Declares the as2_motion_controller_plugin_base class which is the base class for all controller plugins. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/as2_motion_controller/controller_base.hpp``)
------------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_as2_motion_controller_controller_base.hpp.rst



Detailed Description
--------------------




Miguel Fernández Cortizas Rafael Pérez Seguí 






Includes
--------


- ``as2_core/node.hpp``

- ``as2_msgs/msg/control_mode.hpp``

- ``as2_msgs/msg/thrust.hpp``

- ``as2_msgs/msg/trajectory_point.hpp``

- ``geometry_msgs/msg/pose_stamped.hpp``

- ``geometry_msgs/msg/twist_stamped.hpp``

- ``rclcpp/rclcpp.hpp``

- ``string``

- ``vector``



Included By
-----------


- :ref:`file_include_as2_motion_controller_controller_handler.hpp`




Namespaces
----------


- :ref:`namespace_as2_motion_controller_plugin_base`


Classes
-------


- :ref:`exhale_class_classas2__motion__controller__plugin__base_1_1ControllerBase`