Public Member Functions
generic_control_toolbox::ControllerBase Class Reference

#include <controller_template.hpp>

Inheritance diagram for generic_control_toolbox::ControllerBase:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 ControllerBase (ros::NodeHandle nh=ros::NodeHandle("~"))
virtual bool isActive () const =0
virtual void resetInternalState ()=0
virtual sensor_msgs::JointState updateControl (const sensor_msgs::JointState &current_state, const ros::Duration &dt)=0
virtual ~ControllerBase ()

Detailed Description

Defines the basic cartesian controller interface.

Definition at line 18 of file controller_template.hpp.


Constructor & Destructor Documentation

Definition at line 5 of file controller_template.cpp.

Definition at line 6 of file controller_template.cpp.


Member Function Documentation

virtual bool generic_control_toolbox::ControllerBase::isActive ( ) const [pure virtual]

Indicates if the controller is active.

Returns:
True if active, and the controller output is to be used, False otherwise.

Implemented in generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >.

virtual sensor_msgs::JointState generic_control_toolbox::ControllerBase::updateControl ( const sensor_msgs::JointState &  current_state,
const ros::Duration dt 
) [pure virtual]

Method for computing the desired joint states given the control algorithm.

Parameters:
current_stateCurrent joint states.
dtElapsed time since last control loop.
Returns:
Desired joint states.

Implemented in generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >.


The documentation for this class was generated from the following files:


generic_control_toolbox
Author(s): diogo
autogenerated on Thu Jun 6 2019 18:02:57