cob_twist_controller::ControllerInterfacePositionBase Class Reference

Base class for controller interfaces using position integration. More...

#include <controller_interface_base.h>

Inheritance diagram for cob_twist_controller::ControllerInterfacePositionBase:

Public Member Functions
bool	updateIntegration (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfacePositionBase ()
Public Member Functions inherited from cob_twist_controller::ControllerInterfaceBase
virtual void	initialize (ros::NodeHandle &nh, const TwistControllerParams &params)=0
virtual void	processResult (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)=0
virtual	~ControllerInterfaceBase ()

Protected Member Functions
	ControllerInterfacePositionBase ()
Protected Member Functions inherited from cob_twist_controller::ControllerInterfaceBase
	ControllerInterfaceBase ()

Protected Attributes
boost::shared_ptr< SimpsonIntegrator >	integrator_
ros::Time	last_update_time_
ros::Duration	period_
std::vector< double >	pos_
std::vector< double >	vel_
Protected Attributes inherited from cob_twist_controller::ControllerInterfaceBase
ros::NodeHandle	nh_
TwistControllerParams	params_
ros::Publisher	pub_

Detailed Description

Base class for controller interfaces using position integration.

Definition at line 50 of file controller_interface_base.h.

Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfacePositionBase::~ControllerInterfacePositionBase ( )

inline

Definition at line 53 of file controller_interface_base.h.

cob_twist_controller::ControllerInterfacePositionBase::ControllerInterfacePositionBase ( )

inlineprotected

Definition at line 65 of file controller_interface_base.h.

Member Function Documentation

bool cob_twist_controller::ControllerInterfacePositionBase::updateIntegration ( const KDL::JntArray &  q_dot_ik, const KDL::JntArray &  current_q  )

inline

Definition at line 55 of file controller_interface_base.h.

Member Data Documentation

boost::shared_ptr<SimpsonIntegrator> cob_twist_controller::ControllerInterfacePositionBase::integrator_

protected

Definition at line 67 of file controller_interface_base.h.

ros::Time cob_twist_controller::ControllerInterfacePositionBase::last_update_time_

protected

Definition at line 69 of file controller_interface_base.h.

ros::Duration cob_twist_controller::ControllerInterfacePositionBase::period_

protected

Definition at line 70 of file controller_interface_base.h.

std::vector<double> cob_twist_controller::ControllerInterfacePositionBase::pos_

protected

Definition at line 68 of file controller_interface_base.h.

std::vector<double> cob_twist_controller::ControllerInterfacePositionBase::vel_

protected

Definition at line 68 of file controller_interface_base.h.

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

• controller_interface_base.h