generic_control_toolbox::RosControlInterface< JointInterface > Class Template Reference

#include <ros_control_interface.hpp>

Inheritance diagram for generic_control_toolbox::RosControlInterface< JointInterface >:

List of all members.

Public Member Functions
bool	init (JointInterface *hw, ros::NodeHandle &nh)
	RosControlInterface ()
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	update (const ros::Time &time, const ros::Duration &period)
Protected Member Functions
virtual std::shared_ptr < ControllerBase >	initController (ros::NodeHandle &nh) const =0
Private Attributes
std::shared_ptr< ControllerBase >	controller_
std::vector< std::string >	joint_names_
JointType	joint_type_
std::vector < urdf::JointConstSharedPtr >	joint_urdfs_
std::vector < hardware_interface::JointHandle >	joints_
unsigned int	n_joints_

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Detailed Description

template<class JointInterface>
class generic_control_toolbox::RosControlInterface< JointInterface >

Embeds a ControllerBase within the ros control architecture.

Definition at line 22 of file ros_control_interface.hpp.

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Constructor & Destructor Documentation

template<class JointInterface >

generic_control_toolbox::RosControlInterface< JointInterface >::RosControlInterface

(

)

Definition at line 57 of file ros_control_interface.hpp.

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Member Function Documentation

template<class JointInterface >

bool generic_control_toolbox::RosControlInterface< JointInterface >::init	(	JointInterface *	hw,
		ros::NodeHandle &	nh
	)		[virtual]

Reimplemented from controller_interface::Controller< JointInterface >.

Definition at line 85 of file ros_control_interface.hpp.

template<class JointInterface >

virtual std::shared_ptr<ControllerBase> generic_control_toolbox::RosControlInterface< JointInterface >::initController

(

ros::NodeHandle &

nh

)

const [protected, pure virtual]

Initializes an instance of a Controller base to be embedded within ROS Control.

Parameters:

nh	The NodeHandle provided by ROS control with the namespace of the controller.

Returns:

A shared pointer to the instantiated controller base

template<class JointInterface >

void generic_control_toolbox::RosControlInterface< JointInterface >::starting

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 135 of file ros_control_interface.hpp.

template<class JointInterface >

void generic_control_toolbox::RosControlInterface< JointInterface >::stopping

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 182 of file ros_control_interface.hpp.

template<class JointInterface >

void generic_control_toolbox::RosControlInterface< JointInterface >::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[virtual]

Implements controller_interface::ControllerBase.

Definition at line 141 of file ros_control_interface.hpp.

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Member Data Documentation

template<class JointInterface >

std::shared_ptr<ControllerBase> generic_control_toolbox::RosControlInterface< JointInterface >::controller_ [private]

Definition at line 46 of file ros_control_interface.hpp.

template<class JointInterface >

std::vector<std::string> generic_control_toolbox::RosControlInterface< JointInterface >::joint_names_ [private]

Definition at line 49 of file ros_control_interface.hpp.

template<class JointInterface >

JointType generic_control_toolbox::RosControlInterface< JointInterface >::joint_type_ [private]

Definition at line 47 of file ros_control_interface.hpp.

template<class JointInterface >

std::vector<urdf::JointConstSharedPtr> generic_control_toolbox::RosControlInterface< JointInterface >::joint_urdfs_ [private]

Definition at line 50 of file ros_control_interface.hpp.

template<class JointInterface >

std::vector<hardware_interface::JointHandle> generic_control_toolbox::RosControlInterface< JointInterface >::joints_ [private]

Definition at line 51 of file ros_control_interface.hpp.

template<class JointInterface >

unsigned int generic_control_toolbox::RosControlInterface< JointInterface >::n_joints_ [private]

Definition at line 48 of file ros_control_interface.hpp.

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

• ros_control_interface.hpp