play_motion::ControllerUpdater Class Reference

#include <controller_updater.h>

List of all members.

Public Types
typedef std::map< std::string, JointNames >	ControllerJoints
enum	ControllerState { RUNNING, STOPPED }
typedef std::map< std::string, ControllerState >	ControllerStates
Public Member Functions
	ControllerUpdater (ros::NodeHandle nh)
void	registerUpdateCb (const Callback &cb)
virtual	~ControllerUpdater ()
Private Types
typedef boost::function< void(const ControllerStates &states, const ControllerJoints &joints)>	Callback
Private Member Functions
void	mainLoop ()
Private Attributes
ros::ServiceClient	cm_client_
ControllerStates	last_cstates_
boost::thread	main_thread_
ros::NodeHandle	nh_
Callback	update_cb_
ros::Timer	update_timer_

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Detailed Description

Keeps track of controller statuses by polling the controller manager. The service call happens in a separate thread to not disrupt the main code.

Definition at line 55 of file controller_updater.h.

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Member Typedef Documentation

typedef boost::function<void(const ControllerStates& states, const ControllerJoints& joints)> play_motion::ControllerUpdater::Callback [private]

Definition at line 69 of file controller_updater.h.

typedef std::map<std::string, JointNames> play_motion::ControllerUpdater::ControllerJoints

Definition at line 65 of file controller_updater.h.

typedef std::map<std::string, ControllerState> play_motion::ControllerUpdater::ControllerStates

Definition at line 64 of file controller_updater.h.

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Member Enumeration Documentation

enum play_motion::ControllerUpdater::ControllerState

Enumerator:

RUNNING
STOPPED

Definition at line 58 of file controller_updater.h.

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Constructor & Destructor Documentation

play_motion::ControllerUpdater::ControllerUpdater

(

ros::NodeHandle

nh

)

Definition at line 53 of file controller_updater.cpp.

play_motion::ControllerUpdater::~ControllerUpdater

(

)

[virtual]

Definition at line 59 of file controller_updater.cpp.

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Member Function Documentation

void play_motion::ControllerUpdater::mainLoop

(

)

[private]

Definition at line 74 of file controller_updater.cpp.

void play_motion::ControllerUpdater::registerUpdateCb

(

const Callback &

cb

)

[inline]

Definition at line 75 of file controller_updater.h.

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Member Data Documentation

ros::ServiceClient play_motion::ControllerUpdater::cm_client_ [private]

Definition at line 84 of file controller_updater.h.

ControllerStates play_motion::ControllerUpdater::last_cstates_ [private]

Definition at line 85 of file controller_updater.h.

boost::thread play_motion::ControllerUpdater::main_thread_ [private]

Definition at line 82 of file controller_updater.h.

ros::NodeHandle play_motion::ControllerUpdater::nh_ [private]

Definition at line 80 of file controller_updater.h.

Callback play_motion::ControllerUpdater::update_cb_ [private]

Definition at line 83 of file controller_updater.h.

ros::Timer play_motion::ControllerUpdater::update_timer_ [private]

Definition at line 81 of file controller_updater.h.

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

• controller_updater.h
• controller_updater.cpp