Class AsyncPositionControlHandler

• Defined in File async_position_control_handler.hpp

Nested Relationships

Nested Types

• Struct AsyncPositionControlHandler::CommandResult

• Struct AsyncPositionControlHandler::Configuration

• Struct AsyncPositionControlHandler::ConfigurationResult

• Struct AsyncPositionControlHandler::JointPositionTarget

• Struct AsyncPositionControlHandler::TargetFeedback

Class Documentation

class AsyncPositionControlHandler

Handler for asynchronous joint position control.

The defined structures will allow us to further extend the interface in the future.

Public Functions

virtual ~AsyncPositionControlHandler()

auto setJointPositionTarget(const JointPositionTarget &target) -> CommandResult

Sets the next joint positions for the asynchronous control.

Parameters:

target – The target joint positions to set.

Returns:

CommandResult containing the result for the proposed next target.

auto getTargetFeedback() -> TargetFeedback

Retrieves feedback about the current control state.

Returns:

TargetFeedback containing the current status and joint positions.

auto stopControl() -> void

Stops the asynchronous position control.

Public Static Functions

static auto configure(const std::shared_ptr<Robot> &robot, const Configuration &configuration) -> ConfigurationResult

Constructs the async control handler.

Parameters:

• robot – Shared pointer to the robot instance.

• configuration – Input parameters for the initialization.

Returns:

ConfigurationResult containing either the handler or an error message.

struct CommandResult

Public Members

std::optional<std::string> motion_uuid = {}

bool was_successful = {}

std::optional<std::string> error_message = {}

struct Configuration

Public Members

std::optional<std::vector<double>> maximum_joint_velocities = {}

std::optional<double> goal_tolerance = {}

struct ConfigurationResult

Public Members

std::shared_ptr<AsyncPositionControlHandler> handler = {}

std::optional<std::string> error_message = {}

struct JointPositionTarget

Public Members

std::array<double, Robot::kNumJoints> joint_positions = {}

struct TargetFeedback

Public Members

TargetStatus status = {TargetStatus::kIdle}

std::optional<std::string> error_message = {}