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>

Inheritance diagram for robot_controllers::Controller:

[legend]

Public Member Functions
	Controller ()
	Default constructor, does almost nothing, all setup is done in init(). More...

virtual std::vector< std::string >	getClaimedNames ()=0
	Get the names of joints/controllers which this controller exclusively claims. More...

virtual std::vector< std::string >	getCommandedNames ()=0
	Get the names of joints/controllers which this controller commands. More...

std::string	getName ()
	Get the name of this controller. More...

virtual std::string	getType ()
	Get the type of this controller. More...

virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...

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. More...

virtual bool	start ()=0
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...

virtual bool	stop (bool force)=0
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...

virtual void	update (const ros::Time &time, const ros::Duration &dt)=0
	This is the update loop for the controller. More...

virtual	~Controller ()
	Ensure proper cleanup with virtual destructor. More...

Public Member Functions inherited from robot_controllers::Handle
	Handle ()

virtual	~Handle ()
	Ensure proper cleanup with virtual destructor. More...

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 ( )

inlinevirtual

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 ( )

inlinevirtual

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 ( )

inlinevirtual

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
	)

inlinevirtual

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:

controller.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation