robot_controllers::ControllerManager Class Reference

Base class for a controller manager. More...

#include <controller_manager.h>

Public Member Functions
bool	addJointHandle (JointHandlePtr &j)
	Add a joint handle. More...
	ControllerManager ()
HandlePtr	getHandle (const std::string &name)
	Get the handle associated with a particular joint/controller name. More...
JointHandlePtr	getJointHandle (const std::string &name)
	Get the joint handle associated with a particular joint name. More...
virtual int	init (ros::NodeHandle &nh)
	Startup the controller manager, loading default controllers. More...
virtual int	requestStart (const std::string &name)
	Start a controller. More...
virtual int	requestStop (const std::string &name)
	Stop a controller. More...
virtual void	reset ()
	Reset all controllers. More...
virtual void	update (const ros::Time &time, const ros::Duration &dt)
	Update active controllers. More...
virtual	~ControllerManager ()
	Ensure proper shutdown with virtual destructor. More...

Private Types
typedef std::vector< ControllerLoaderPtr >	ControllerList
typedef std::vector< JointHandlePtr >	JointHandleList
typedef actionlib::SimpleActionServer< robot_controllers_msgs::QueryControllerStatesAction >	server_t

Private Member Functions
void	execute (const robot_controllers_msgs::QueryControllerStatesGoalConstPtr &goal)
	Action callback. More...
void	getState (robot_controllers_msgs::QueryControllerStatesResult &result)
	Fill in the current state of controllers. More...
bool	load (const std::string &name)
	Load a controller. More...

Private Attributes
ControllerList	controllers_
JointHandleList	joints_
boost::shared_ptr< server_t >	server_

Detailed Description

Base class for a controller manager.

Definition at line 48 of file controller_manager.h.

Member Typedef Documentation

typedef std::vector<ControllerLoaderPtr> robot_controllers::ControllerManager::ControllerList

private

Definition at line 52 of file controller_manager.h.

typedef std::vector<JointHandlePtr> robot_controllers::ControllerManager::JointHandleList

private

Definition at line 53 of file controller_manager.h.

typedef actionlib::SimpleActionServer<robot_controllers_msgs::QueryControllerStatesAction> robot_controllers::ControllerManager::server_t

private

Definition at line 50 of file controller_manager.h.

Constructor & Destructor Documentation

robot_controllers::ControllerManager::ControllerManager

(

)

Definition at line 37 of file controller_manager.cpp.

virtual robot_controllers::ControllerManager::~ControllerManager ( )

inlinevirtual

Ensure proper shutdown with virtual destructor.

Definition at line 59 of file controller_manager.h.

Member Function Documentation

bool robot_controllers::ControllerManager::addJointHandle

(

JointHandlePtr &

j

)

Add a joint handle.

Definition at line 206 of file controller_manager.cpp.

void robot_controllers::ControllerManager::execute ( const robot_controllers_msgs::QueryControllerStatesGoalConstPtr &  goal )

private

Action callback.

Definition at line 246 of file controller_manager.cpp.

HandlePtr robot_controllers::ControllerManager::getHandle

(

const std::string &

name

)

Get the handle associated with a particular joint/controller name.

Parameters

name	The name of the joint/controller.

Definition at line 213 of file controller_manager.cpp.

JointHandlePtr robot_controllers::ControllerManager::getJointHandle

(

const std::string &

name

)

Get the joint handle associated with a particular joint name.

Parameters

name	The name of the joint.

This is mainly a convienence function.

Definition at line 233 of file controller_manager.cpp.

void robot_controllers::ControllerManager::getState ( robot_controllers_msgs::QueryControllerStatesResult &  result )

private

Fill in the current state of controllers.

Definition at line 346 of file controller_manager.cpp.

int robot_controllers::ControllerManager::init ( ros::NodeHandle &  nh )

virtual

Startup the controller manager, loading default controllers.

Parameters

nh	The proper node handle for finding parameters.

Returns

0 if success, negative values are error codes.

Note: JointHandles should be added before this is called.

Definition at line 41 of file controller_manager.cpp.

bool robot_controllers::ControllerManager::load ( const std::string &  name )

private

Load a controller.

Definition at line 368 of file controller_manager.cpp.

int robot_controllers::ControllerManager::requestStart ( const std::string &  name )

virtual

Start a controller.

Definition at line 85 of file controller_manager.cpp.

int robot_controllers::ControllerManager::requestStop ( const std::string &  name )

virtual

Stop a controller.

Definition at line 162 of file controller_manager.cpp.

void robot_controllers::ControllerManager::reset ( )

virtual

Reset all controllers.

Definition at line 197 of file controller_manager.cpp.

void robot_controllers::ControllerManager::update ( const ros::Time &  time, const ros::Duration &  dt  )

virtual

Update active controllers.

Definition at line 184 of file controller_manager.cpp.

Member Data Documentation

ControllerList robot_controllers::ControllerManager::controllers_

private

Definition at line 111 of file controller_manager.h.

JointHandleList robot_controllers::ControllerManager::joints_

private

Definition at line 112 of file controller_manager.h.

boost::shared_ptr<server_t> robot_controllers::ControllerManager::server_

private

Definition at line 114 of file controller_manager.h.

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

• controller_manager.h
• controller_manager.cpp