Base class for a controller manager. More...

#include <controller_manager.h>

Public Member Functions
bool	addJointHandle (JointHandlePtr &j)
	Add a joint handle.
	ControllerManager ()
HandlePtr	getHandle (const std::string &name)
	Get the handle associated with a particular joint/controller name.
JointHandlePtr	getJointHandle (const std::string &name)
	Get the joint handle associated with a particular joint name.
virtual int	init (ros::NodeHandle &nh)
	Startup the controller manager, loading default controllers.
virtual int	requestStart (const std::string &name)
	Start a controller.
virtual int	requestStop (const std::string &name)
	Stop a controller.
virtual void	reset ()
	Reset all controllers.
virtual void	update (const ros::Time &time, const ros::Duration &dt)
	Update active controllers.
virtual	~ControllerManager ()
	Ensure proper shutdown with virtual destructor.
Private Types
typedef std::vector < ControllerLoaderPtr >	ControllerList
typedef std::vector < JointHandlePtr >	JointHandleList
typedef actionlib::SimpleActionServer < robot_controllers_msgs::QueryControllerStatesAction >	server_t
Private Member Functions
void	execute (const robot_controllers_msgs::QueryControllerStatesGoalConstPtr &goal)
	Action callback.
void	getState (robot_controllers_msgs::QueryControllerStatesResult &result)
	Fill in the current state of controllers.
bool	load (const std::string &name)
	Load a controller.
Private Attributes
ControllerList	controllers_
JointHandleList	joints_
boost::shared_ptr< server_t >	server_

Detailed Description

Base class for a controller manager.

Definition at line 48 of file controller_manager.h.

Member Typedef Documentation

typedef std::vector<ControllerLoaderPtr> robot_controllers::ControllerManager::ControllerList [private]

Definition at line 52 of file controller_manager.h.

typedef std::vector<JointHandlePtr> robot_controllers::ControllerManager::JointHandleList [private]

Definition at line 53 of file controller_manager.h.

typedef actionlib::SimpleActionServer<robot_controllers_msgs::QueryControllerStatesAction> robot_controllers::ControllerManager::server_t [private]

Definition at line 50 of file controller_manager.h.

Constructor & Destructor Documentation

robot_controllers::ControllerManager::ControllerManager ( )

Definition at line 37 of file controller_manager.cpp.

virtual robot_controllers::ControllerManager::~ControllerManager ( ) [inline, virtual]

Ensure proper shutdown with virtual destructor.

Definition at line 59 of file controller_manager.h.

Member Function Documentation

bool robot_controllers::ControllerManager::addJointHandle ( JointHandlePtr & j )

Add a joint handle.

Definition at line 206 of file controller_manager.cpp.

void robot_controllers::ControllerManager::execute ( const robot_controllers_msgs::QueryControllerStatesGoalConstPtr & goal ) [private]

Action callback.

Definition at line 246 of file controller_manager.cpp.

HandlePtr robot_controllers::ControllerManager::getHandle ( const std::string & name )

Get the handle associated with a particular joint/controller name.

Parameters:

name	The name of the joint/controller.

Definition at line 213 of file controller_manager.cpp.

JointHandlePtr robot_controllers::ControllerManager::getJointHandle ( const std::string & name )

Get the joint handle associated with a particular joint name.

Parameters:

name	The name of the joint.

This is mainly a convienence function.

Definition at line 233 of file controller_manager.cpp.

void robot_controllers::ControllerManager::getState ( robot_controllers_msgs::QueryControllerStatesResult & result ) [private]

Fill in the current state of controllers.

Definition at line 346 of file controller_manager.cpp.

int robot_controllers::ControllerManager::init ( ros::NodeHandle & nh ) [virtual]

Startup the controller manager, loading default controllers.

Parameters:

nh	The proper node handle for finding parameters.

Returns:: 0 if success, negative values are error codes.

Note: JointHandles should be added before this is called.

Definition at line 41 of file controller_manager.cpp.

bool robot_controllers::ControllerManager::load ( const std::string & name ) [private]

Load a controller.

Definition at line 368 of file controller_manager.cpp.

int robot_controllers::ControllerManager::requestStart ( const std::string & name ) [virtual]

Start a controller.

Definition at line 85 of file controller_manager.cpp.

int robot_controllers::ControllerManager::requestStop ( const std::string & name ) [virtual]

Stop a controller.

Definition at line 162 of file controller_manager.cpp.

void robot_controllers::ControllerManager::reset ( ) [virtual]

Reset all controllers.

Definition at line 197 of file controller_manager.cpp.

void robot_controllers::ControllerManager::update	(	const ros::Time &	time,
		const ros::Duration &	dt
	)		`[virtual]`

Update active controllers.

Definition at line 184 of file controller_manager.cpp.

Member Data Documentation

ControllerList robot_controllers::ControllerManager::controllers_ [private]

Definition at line 111 of file controller_manager.h.

JointHandleList robot_controllers::ControllerManager::joints_ [private]

Definition at line 112 of file controller_manager.h.

boost::shared_ptr<server_t> robot_controllers::ControllerManager::server_ [private]

Definition at line 114 of file controller_manager.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation