Program Listing for File controller.h
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/*
* Copyright (c) 2020, Michael Ferguson
* Copyright (c) 2014-2015, Fetch Robotics Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the Fetch Robotics Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
* THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
// Author: Michael Ferguson
#ifndef ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_H_
#define ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_H_
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"
#include "robot_controllers_interface/handle.h"
namespace robot_controllers_interface
{
// Forward define
class ControllerManager;
class Controller : public Handle
{
public:
Controller()
{
}
virtual ~Controller()
{
}
virtual int init(const std::string& name,
std::shared_ptr<rclcpp::Node> node,
std::shared_ptr<ControllerManager> manager)
{
name_ = name;
// Suppress downstream build warnings
(void) node;
(void) manager;
return 0;
}
virtual bool start() = 0;
virtual bool stop(bool force) = 0;
virtual bool reset() = 0;
virtual void update(const rclcpp::Time& time, const rclcpp::Duration& dt) = 0;
std::string getName()
{
return name_;
}
virtual std::string getType()
{
return "UnknownType";
}
virtual std::vector<std::string> getCommandedNames() = 0;
virtual std::vector<std::string> getClaimedNames() = 0;
private:
std::string name_;
};
using ControllerPtr = std::shared_ptr<Controller>;
} // namespace robot_controllers_interface
#endif // ROBOT_CONTROLLERS_INTERFACE__CONTROLLER_H_