MoveItMultiControllerManager discovers all running ros_control node and delegates member function to the corresponding MoveItControllerManager instances. More...

Inheritance diagram for moveit_ros_control_interface::MoveItMultiControllerManager:

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List of all members.

Public Member Functions
virtual void	getActiveControllers (std::vector< std::string > &names)
	Read all active, managed controllers from discovered interfaces.
virtual moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name)
	Find appropriate interface and delegate handle creation.
virtual void	getControllerJoints (const std::string &name, std::vector< std::string > &joints)
	Find appropriate interface and delegate joints query.
virtual void	getControllersList (std::vector< std::string > &names)
	Read all managed controllers from discovered interfaces.
virtual ControllerState	getControllerState (const std::string &name)
	Find appropriate interface and delegate state query.
virtual bool	switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate)
	delegates switch to all known interfaces. Stops of first failing switch.
Private Types
typedef std::map< std::string, moveit_ros_control_interface::MoveItControllerManagerPtr >	ControllerManagersMap
Private Member Functions
void	discover ()
	Poll ROS master for services and filters all controller_manager/list_controllers instances Throttled down to 1 Hz, controller_managers_mutex_ must be locked externally.
Static Private Member Functions
static std::string	getNamespace (const std::string &name)
	Get namespace (including leading and trailing slashes) from controller name.
Private Attributes
ControllerManagersMap	controller_managers_
boost::mutex	controller_managers_mutex_
ros::Time	controller_managers_stamp_

Detailed Description

MoveItMultiControllerManager discovers all running ros_control node and delegates member function to the corresponding MoveItControllerManager instances.

Definition at line 377 of file controller_manager_plugin.cpp.

Member Typedef Documentation

typedef std::map<std::string, moveit_ros_control_interface::MoveItControllerManagerPtr> moveit_ros_control_interface::MoveItMultiControllerManager::ControllerManagersMap [private]

Definition at line 379 of file controller_manager_plugin.cpp.

Member Function Documentation

void moveit_ros_control_interface::MoveItMultiControllerManager::discover ( ) [inline, private]

Poll ROS master for services and filters all controller_manager/list_controllers instances Throttled down to 1 Hz, controller_managers_mutex_ must be locked externally.

Definition at line 388 of file controller_manager_plugin.cpp.

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

Read all active, managed controllers from discovered interfaces.

Parameters:

names

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 472 of file controller_manager_plugin.cpp.

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

Find appropriate interface and delegate handle creation.

Parameters:

name

Returns:: handle

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 440 of file controller_manager_plugin.cpp.

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

Find appropriate interface and delegate joints query.

Parameters:

name
joints

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 488 of file controller_manager_plugin.cpp.

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

Read all managed controllers from discovered interfaces.

Parameters:

names

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 457 of file controller_manager_plugin.cpp.

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

Find appropriate interface and delegate state query.

Parameters:

name

Returns:

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 505 of file controller_manager_plugin.cpp.

static std::string moveit_ros_control_interface::MoveItMultiControllerManager::getNamespace ( const std::string & name ) [inline, static, private]

Get namespace (including leading and trailing slashes) from controller name.

Parameters:

name

Returns:: extracted namespace or / is none is found

Definition at line 426 of file controller_manager_plugin.cpp.

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