#include <controller.h>
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| Controller () |
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template<class ControllerType > |
bool | getController (const std::string &name, int sched, ControllerType *&c) |
| Method to get access to another controller by name and type. More...
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virtual bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)=0 |
| The init function is called to initialize the controller from a non-realtime thread. More...
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bool | initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
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bool | isRunning () |
| Check if the controller is running. More...
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void | starting (const ros::Time &time) |
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virtual void | starting () |
| The starting method is called just before the first update from within the realtime thread. More...
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bool | startRequest () |
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void | stopping (const ros::Time &time) |
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virtual void | stopping () |
| The stopping method is called by the realtime thread just after the last update call. More...
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bool | stopRequest () |
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void | update (const ros::Time &time, const ros::Duration &period) |
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virtual void | update (void)=0 |
| The update method is called periodically by the realtime thread when the controller is running. More...
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void | updateRequest () |
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virtual | ~Controller () |
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| Controller () |
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virtual bool | init (pr2_mechanism_model::RobotState *, ros::NodeHandle &, ros::NodeHandle &) |
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| ControllerBase () |
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bool | isRunning () |
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bool | isRunning () |
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bool | startRequest (const ros::Time &time) |
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bool | startRequest (const ros::Time &time) |
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bool | stopRequest (const ros::Time &time) |
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bool | stopRequest (const ros::Time &time) |
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void | updateRequest (const ros::Time &time, const ros::Duration &period) |
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void | updateRequest (const ros::Time &time, const ros::Duration &period) |
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virtual | ~ControllerBase () |
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Definition at line 53 of file controller.h.
Enumerator |
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BEFORE_ME |
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AFTER_ME |
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Definition at line 56 of file controller.h.
Enumerator |
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CONSTRUCTED |
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INITIALIZED |
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RUNNING |
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Definition at line 166 of file controller.h.
pr2_controller_interface::Controller::Controller |
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inline |
virtual pr2_controller_interface::Controller::~Controller |
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inlinevirtual |
pr2_controller_interface::Controller::Controller |
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const Controller & |
c | ) |
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private |
template<class ControllerType >
bool pr2_controller_interface::Controller::getController |
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const std::string & |
name, |
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int |
sched, |
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ControllerType *& |
c |
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inline |
Method to get access to another controller by name and type.
Definition at line 90 of file controller.h.
The init function is called to initialize the controller from a non-realtime thread.
- Parameters
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robot | A RobotState object which can be used to read joint states and write out effort commands. |
n | A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface. |
- Returns
- True if initialization was successful and the controller is ready to be started.
Reimplemented from controller_interface::Controller< pr2_mechanism_model::RobotState >.
bool pr2_controller_interface::Controller::isRunning |
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inline |
Check if the controller is running.
Definition at line 110 of file controller.h.
void pr2_controller_interface::Controller::starting |
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const ros::Time & |
time | ) |
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inlinevirtual |
virtual void pr2_controller_interface::Controller::starting |
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inlinevirtual |
The starting method is called just before the first update from within the realtime thread.
Definition at line 66 of file controller.h.
bool pr2_controller_interface::Controller::startRequest |
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inline |
void pr2_controller_interface::Controller::stopping |
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const ros::Time & |
time | ) |
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inlinevirtual |
virtual void pr2_controller_interface::Controller::stopping |
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inlinevirtual |
The stopping method is called by the realtime thread just after the last update call.
Definition at line 72 of file controller.h.
bool pr2_controller_interface::Controller::stopRequest |
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inline |
virtual void pr2_controller_interface::Controller::update |
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void |
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pure virtual |
The update method is called periodically by the realtime thread when the controller is running.
void pr2_controller_interface::Controller::updateRequest |
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inline |
std::vector<std::string> pr2_controller_interface::Controller::after_list_ |
std::vector<std::string> pr2_controller_interface::Controller::before_list_ |
enum { ... } pr2_controller_interface::Controller::state_ |
The documentation for this class was generated from the following file: