#include <srh_example_controller.hpp>
Public Member Functions | |
| bool | init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n) |
| bool | init (ros_ethercat_model::RobotState *robot, const std::string &joint_name) |
| SrhExampleController () | |
| virtual void | starting (const ros::Time &time) |
| virtual void | update (const ros::Time &time, const ros::Duration &period) |
| virtual | ~SrhExampleController () |
Detailed Description
Definition at line 35 of file srh_example_controller.hpp.
Constructor & Destructor Documentation
The controller manager will instanciate one instance of this class per controlled joint.
Definition at line 40 of file srh_example_controller.cpp.
| controller::SrhExampleController::~SrhExampleController | ( | ) | [virtual] |
Destructor.
Definition at line 47 of file srh_example_controller.cpp.
Member Function Documentation
| bool controller::SrhExampleController::init | ( | ros_ethercat_model::RobotState * | robot, |
| ros::NodeHandle & | n | ||
| ) | [virtual] |
The first init is used to read which joint is being controlled from the parameter server.
- Parameters:
-
robot A pointer to the robot state, passed to the 2nd init function. n The ROS nodehandle, to be able to access the parameter server.
- Returns:
- True if the 2nd init function succeeds.
Implements controller::SrController.
Definition at line 53 of file srh_example_controller.cpp.
| bool controller::SrhExampleController::init | ( | ros_ethercat_model::RobotState * | robot, |
| const std::string & | joint_name | ||
| ) |
This init funciton is called by the previous init function. It finishes to initalise the different necessary variables.
- Parameters:
-
robot A pointer to the robot state (used to get the joint_state) joint_name The name of the joint which is controlled.
- Returns:
- true if initialized.
Definition at line 78 of file srh_example_controller.cpp.
| void controller::SrhExampleController::starting | ( | const ros::Time & | time | ) | [virtual] |
This method is called when the controller is started. The command is then to be the current position (or effort / velocity / ... depending on what you're controlling), so that the first command won't move the joint.
Reimplemented from controller::SrController.
Definition at line 131 of file srh_example_controller.cpp.
| void controller::SrhExampleController::update | ( | const ros::Time & | time, |
| const ros::Duration & | period | ||
| ) | [virtual] |
Issues commands to the joint. This method is called at the specified rate by the main loop.
Implements controller::SrController.
Definition at line 140 of file srh_example_controller.cpp.
The documentation for this class was generated from the following files: