Base class for a controller. Is derived from a Handle, so that controllers can be passed from ControllerManager::getHandle(), thus allowing controllers to access other controllers (to stack their commands. More...
#include <controller.h>
Public Member Functions | |
| Controller () | |
| Default constructor, does almost nothing, all setup is done in init(). | |
| virtual std::vector< std::string > | getClaimedNames ()=0 |
| Get the names of joints/controllers which this controller exclusively claims. | |
| virtual std::vector< std::string > | getCommandedNames ()=0 |
| Get the names of joints/controllers which this controller commands. | |
| std::string | getName () |
| Get the name of this controller. | |
| virtual std::string | getType () |
| Get the type of this controller. | |
| virtual int | init (ros::NodeHandle &nh, ControllerManager *manager) |
| Initialize the controller and any required data structures. | |
| virtual bool | reset ()=0 |
| Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition. | |
| virtual bool | start ()=0 |
| Attempt to start the controller. This should be called only by the ControllerManager instance. | |
| virtual bool | stop (bool force)=0 |
| Attempt to stop the controller. This should be called only by the ControllerManager instance. | |
| virtual void | update (const ros::Time &time, const ros::Duration &dt)=0 |
| This is the update loop for the controller. | |
| virtual | ~Controller () |
| Ensure proper cleanup with virtual destructor. | |
Private Attributes | |
| std::string | name_ |
Detailed Description
Base class for a controller. Is derived from a Handle, so that controllers can be passed from ControllerManager::getHandle(), thus allowing controllers to access other controllers (to stack their commands.
Definition at line 66 of file controller.h.
Constructor & Destructor Documentation
| robot_controllers::Controller::Controller | ( | ) | [inline] |
Default constructor, does almost nothing, all setup is done in init().
Definition at line 72 of file controller.h.
| virtual robot_controllers::Controller::~Controller | ( | ) | [inline, virtual] |
Ensure proper cleanup with virtual destructor.
Definition at line 77 of file controller.h.
Member Function Documentation
| virtual std::vector<std::string> robot_controllers::Controller::getClaimedNames | ( | ) | [pure virtual] |
Get the names of joints/controllers which this controller exclusively claims.
| virtual std::vector<std::string> robot_controllers::Controller::getCommandedNames | ( | ) | [pure virtual] |
Get the names of joints/controllers which this controller commands.
| std::string robot_controllers::Controller::getName | ( | ) | [inline, virtual] |
Get the name of this controller.
Implements robot_controllers::Handle.
Definition at line 129 of file controller.h.
| virtual std::string robot_controllers::Controller::getType | ( | ) | [inline, virtual] |
Get the type of this controller.
Definition at line 135 of file controller.h.
| virtual int robot_controllers::Controller::init | ( | ros::NodeHandle & | nh, |
| ControllerManager * | manager | ||
| ) | [inline, virtual] |
Initialize the controller and any required data structures.
- Parameters:
-
nh Node handle for this controller. manager The controller manager instance, this is needed for the controller to get information about joints, etc.
- Returns:
- 0 if succesfully configured, negative values are error codes.
Definition at line 88 of file controller.h.
| virtual bool robot_controllers::Controller::reset | ( | ) | [pure virtual] |
Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.
- Returns:
- True if successfully reset, false otherwise.
| virtual bool robot_controllers::Controller::start | ( | ) | [pure virtual] |
Attempt to start the controller. This should be called only by the ControllerManager instance.
- Returns:
- True if successfully started, false otherwise.
| virtual bool robot_controllers::Controller::stop | ( | bool | force | ) | [pure virtual] |
Attempt to stop the controller. This should be called only by the ControllerManager instance.
- Parameters:
-
force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.
- Returns:
- True if successfully stopped, false otherwise.
| virtual void robot_controllers::Controller::update | ( | const ros::Time & | time, |
| const ros::Duration & | dt | ||
| ) | [pure virtual] |
This is the update loop for the controller.
- Parameters:
-
time The system time. dt The timestep since last call to update.
Member Data Documentation
std::string robot_controllers::Controller::name_ [private] |
Definition at line 147 of file controller.h.
The documentation for this class was generated from the following file: