moveit_controller_manager::MoveItControllerManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_. More...

Inheritance diagram for moveit_ros_control_interface::MoveItControllerManager:

[legend]

List of all members.

Public Member Functions
virtual void	getActiveControllers (std::vector< std::string > &names)
	Refresh controller list and output all active, managed controllers.
virtual moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name)
	Find and return the pre-allocated handle for the given controller.
virtual void	getControllerJoints (const std::string &name, std::vector< std::string > &joints)
	Read resources from cached controller states.
virtual void	getControllersList (std::vector< std::string > &names)
	Refresh controller list and output all managed controllers.
virtual ControllerState	getControllerState (const std::string &name)
	Refresh controller state and output the state of the given one, only active_ will be set.
	MoveItControllerManager ()
	The default constructor. Reads the namespace from ~ros_control_namespace param and defaults to /.
	MoveItControllerManager (const std::string &ns)
	Configure interface with namespace.
virtual bool	switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate)
	Filter lists for managed controller and computes switching set. Stopped list might be extended by unsupported controllers that claim needed resources.
Private Types
typedef std::map< std::string, ControllerHandleAllocatorPtr >	AllocatorsMap
typedef std::map< std::string, controller_manager_msgs::ControllerState >	ControllersMap
typedef std::map< std::string, moveit_controller_manager::MoveItControllerHandlePtr >	HandleMap
Private Member Functions
void	allocate (const std::string &name, const controller_manager_msgs::ControllerState &controller)
	Allocates a MoveItControllerHandle instance for the given controller Might create allocator object first.
void	discover (bool force=false)
	Call list_controllers and populate managed_controllers_ and active_controllers_. Allocates handles if needed. Throttled down to 1 Hz, controllers_mutex_ must be locked externally.
std::string	getAbsName (const std::string &name)
	get fully qualified name
Static Private Member Functions
static bool	isActive (const controller_manager_msgs::ControllerState &s)
	Check if given controller is active.
Private Attributes
ControllersMap	active_controllers_
AllocatorsMap	allocators_
boost::mutex	controllers_mutex_
ros::Time	controllers_stamp_
HandleMap	handles_
pluginlib::ClassLoader < ControllerHandleAllocator >	loader_
ControllersMap	managed_controllers_
const std::string	ns_

Detailed Description

moveit_controller_manager::MoveItControllerManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_.

Definition at line 83 of file controller_manager_plugin.cpp.

Member Typedef Documentation

typedef std::map<std::string, ControllerHandleAllocatorPtr> moveit_ros_control_interface::MoveItControllerManager::AllocatorsMap [private]

Definition at line 90 of file controller_manager_plugin.cpp.

typedef std::map<std::string, controller_manager_msgs::ControllerState> moveit_ros_control_interface::MoveItControllerManager::ControllersMap [private]

Definition at line 87 of file controller_manager_plugin.cpp.

typedef std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr> moveit_ros_control_interface::MoveItControllerManager::HandleMap [private]

Definition at line 93 of file controller_manager_plugin.cpp.

Constructor & Destructor Documentation

moveit_ros_control_interface::MoveItControllerManager::MoveItControllerManager ( ) [inline]

The default constructor. Reads the namespace from ~ros_control_namespace param and defaults to /.

Reimplemented from moveit_controller_manager::MoveItControllerManager.

Definition at line 180 of file controller_manager_plugin.cpp.

moveit_ros_control_interface::MoveItControllerManager::MoveItControllerManager ( const std::string & ns ) [inline]

Configure interface with namespace.

Parameters:

ns	namespace of ros_control node (without /controller_manager/)

Definition at line 191 of file controller_manager_plugin.cpp.

Member Function Documentation

void moveit_ros_control_interface::MoveItControllerManager::allocate	(	const std::string &	name,
		const controller_manager_msgs::ControllerState &	controller
	)		`[inline, private]`

Allocates a MoveItControllerHandle instance for the given controller Might create allocator object first.

Parameters:

name	fully qualified name of the controller
controller	controller information

Definition at line 149 of file controller_manager_plugin.cpp.

void moveit_ros_control_interface::MoveItControllerManager::discover ( bool force = false ) [inline, private]

Call list_controllers and populate managed_controllers_ and active_controllers_. Allocates handles if needed. Throttled down to 1 Hz, controllers_mutex_ must be locked externally.

Parameters:

force force rediscover

Definition at line 115 of file controller_manager_plugin.cpp.

std::string moveit_ros_control_interface::MoveItControllerManager::getAbsName ( const std::string & name ) [inline, private]

get fully qualified name

Parameters:

name	name to be resolved to an absolute name

Returns:: resolved name

Definition at line 171 of file controller_manager_plugin.cpp.

virtual void moveit_ros_control_interface::MoveItControllerManager::getActiveControllers ( std::vector< std::string > & names ) [inline, virtual]

Refresh controller list and output all active, managed controllers.

Parameters:

[out] names list of controllers (with namespace)

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 231 of file controller_manager_plugin.cpp.

virtual moveit_controller_manager::MoveItControllerHandlePtr moveit_ros_control_interface::MoveItControllerManager::getControllerHandle ( const std::string & name ) [inline, virtual]

Find and return the pre-allocated handle for the given controller.

Parameters:

name

Returns:

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 201 of file controller_manager_plugin.cpp.

virtual void moveit_ros_control_interface::MoveItControllerManager::getControllerJoints	(	const std::string &	name,
		std::vector< std::string > &	joints
	)		`[inline, virtual]`

Read resources from cached controller states.

Parameters:

[in]	name	name of controller (with namespace)
[out]	joints

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 248 of file controller_manager_plugin.cpp.

virtual void moveit_ros_control_interface::MoveItControllerManager::getControllersList ( std::vector< std::string > & names ) [inline, virtual]

Refresh controller list and output all managed controllers.

Parameters:

[out] names list of controllers (with namespace)

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 216 of file controller_manager_plugin.cpp.

virtual ControllerState moveit_ros_control_interface::MoveItControllerManager::getControllerState ( const std::string & name ) [inline, virtual]

Refresh controller state and output the state of the given one, only active_ will be set.

Parameters:

[in] name name of controller (with namespace)

Returns:: state

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 263 of file controller_manager_plugin.cpp.

static bool moveit_ros_control_interface::MoveItControllerManager::isActive ( const controller_manager_msgs::ControllerState & s ) [inline, static, private]

Check if given controller is active.

Parameters:

s	state of controller

Returns:: true if controller is active

Definition at line 104 of file controller_manager_plugin.cpp.

virtual bool moveit_ros_control_interface::MoveItControllerManager::switchControllers	(	const std::vector< std::string > &	activate,
		const std::vector< std::string > &	deactivate
	)		`[inline, virtual]`

Filter lists for managed controller and computes switching set. Stopped list might be extended by unsupported controllers that claim needed resources.

Parameters: