controller_interface::ControllerBase Class Reference

Abstract Controller Interface. More...

#include <controller_base.h>

Inheritance diagram for controller_interface::ControllerBase:

Public Member Functions
	ControllerBase ()=default
	ControllerBase (const ControllerBase &)=delete
	ControllerBase (ControllerBase &&)=delete
ControllerBase &	operator= (const ControllerBase &)=delete
ControllerBase &	operator= (ControllerBase &&)=delete
virtual	~ControllerBase ()=default
Real-Time Safe Functions
virtual void	starting (const ros::Time &)
	This is called from within the realtime thread just before the first call to update. More...
virtual void	update (const ros::Time &time, const ros::Duration &period)=0
	This is called periodically by the realtime thread when the controller is running. More...
virtual void	stopping (const ros::Time &)
	This is called from within the realtime thread just after the last update call before the controller is stopped. More...
virtual void	waiting (const ros::Time &)
	This is called from within the realtime thread while the controller is waiting to start. More...
virtual void	aborting (const ros::Time &)
	This is called from within the realtime thread when the controller needs to be aborted. More...
bool	isInitialized () const
	Check if the controller is initialized. More...
bool	isRunning () const
	Check if the controller is running. More...
bool	isStopped () const
	Check if the controller is stopped. More...
bool	isWaiting () const
	Check if the controller is waiting. More...
bool	isAborted () const
	Check if the controller is aborted. More...
void	updateRequest (const ros::Time &time, const ros::Duration &period)
	Calls update only if this controller is running. More...
bool	startRequest (const ros::Time &time)
	Calls starting unless this controller is just constructed. More...
bool	stopRequest (const ros::Time &time)
	Calls stopping unless this controller is just constructed. More...
bool	waitRequest (const ros::Time &time)
	Calls waiting unless this controller is just constructed. More...
bool	abortRequest (const ros::Time &time)
	Calls abort unless this controller is just constructed. More...

Non Real-Time Safe Functions
enum	ControllerState {   ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED,   ControllerState::WAITING, ControllerState::ABORTED }
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
ControllerState	state_ = ControllerState::CONSTRUCTED
	The current execution state of the controller. More...
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)=0
	Request that the controller be initialized. More...

Detailed Description

Abstract Controller Interface.

Definition at line 48 of file controller_base.h.

Member Typedef Documentation

ClaimedResources

typedef std::vector<hardware_interface::InterfaceResources> controller_interface::ControllerBase::ClaimedResources

Definition at line 218 of file controller_base.h.

Member Enumeration Documentation

ControllerState

enum controller_interface::ControllerBase::ControllerState

strong

Enumerator
CONSTRUCTED
INITIALIZED
RUNNING
STOPPED
WAITING
ABORTED

Definition at line 243 of file controller_base.h.

Constructor & Destructor Documentation

ControllerBase() [1/3]

controller_interface::ControllerBase::ControllerBase ( )

default

~ControllerBase()

virtual controller_interface::ControllerBase::~ControllerBase ( )

virtualdefault

ControllerBase() [2/3]

controller_interface::ControllerBase::ControllerBase ( const ControllerBase &  )

delete

ControllerBase() [3/3]

controller_interface::ControllerBase::ControllerBase ( ControllerBase &&  )

delete

Member Function Documentation

aborting()

virtual void controller_interface::ControllerBase::aborting ( const ros::Time &  )

inlinevirtual

This is called from within the realtime thread when the controller needs to be aborted.

Parameters

time	The current time

Definition at line 94 of file controller_base.h.

abortRequest()

bool controller_interface::ControllerBase::abortRequest ( const ros::Time &  time )

inline

Calls abort unless this controller is just constructed.

Definition at line 197 of file controller_base.h.

initRequest()

virtual bool controller_interface::ControllerBase::initRequest ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh, ClaimedResources &  claimed_resources  )

pure virtual

Request that the controller be initialized.

Parameters

	robot_hw	The robot hardware abstraction.
	root_nh	A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
	controller_nh	A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.
[out]	claimed_resources	The resources claimed by this controller. They can belong to multiple hardware interfaces.

Returns

True if initialization was successful and the controller is ready to be started.

Implemented in controller_interface::MultiInterfaceController< T >, and controller_interface::Controller< T >.

isAborted()

bool controller_interface::ControllerBase::isAborted ( ) const

inline

Check if the controller is aborted.

Returns

true if the controller is aborted

Definition at line 131 of file controller_base.h.

isInitialized()

bool controller_interface::ControllerBase::isInitialized ( ) const

inline

Check if the controller is initialized.

Returns

true if the controller is initialized

Definition at line 99 of file controller_base.h.

isRunning()

bool controller_interface::ControllerBase::isRunning ( ) const

inline

Check if the controller is running.

Returns

true if the controller is running

Definition at line 107 of file controller_base.h.

isStopped()

bool controller_interface::ControllerBase::isStopped ( ) const

inline

Check if the controller is stopped.

Returns

true if the controller is stopped

Definition at line 115 of file controller_base.h.

isWaiting()

bool controller_interface::ControllerBase::isWaiting ( ) const

inline

Check if the controller is waiting.

Returns

true if the controller is waiting

Definition at line 123 of file controller_base.h.

operator=() [1/2]

ControllerBase& controller_interface::ControllerBase::operator= ( const ControllerBase &  )

delete

operator=() [2/2]

ControllerBase& controller_interface::ControllerBase::operator= ( ControllerBase &&  )

delete

starting()

virtual void controller_interface::ControllerBase::starting ( const ros::Time &  )

inlinevirtual

This is called from within the realtime thread just before the first call to update.

Parameters

time	The current time

Definition at line 66 of file controller_base.h.

startRequest()

bool controller_interface::ControllerBase::startRequest ( const ros::Time &  time )

inline

Calls starting unless this controller is just constructed.

Definition at line 146 of file controller_base.h.

stopping()

virtual void controller_interface::ControllerBase::stopping ( const ros::Time &  )

inlinevirtual

This is called from within the realtime thread just after the last update call before the controller is stopped.

Parameters

time	The current time

Definition at line 80 of file controller_base.h.

stopRequest()

bool controller_interface::ControllerBase::stopRequest ( const ros::Time &  time )

inline

Calls stopping unless this controller is just constructed.

Definition at line 163 of file controller_base.h.

update()

virtual void controller_interface::ControllerBase::update ( const ros::Time &  time, const ros::Duration &  period  )

pure virtual

This is called periodically by the realtime thread when the controller is running.

Parameters

time	The current time
period	The time passed since the last call to update

updateRequest()

void controller_interface::ControllerBase::updateRequest ( const ros::Time &  time, const ros::Duration &  period  )

inline

Calls update only if this controller is running.

Definition at line 137 of file controller_base.h.

waiting()

virtual void controller_interface::ControllerBase::waiting ( const ros::Time &  )

inlinevirtual

This is called from within the realtime thread while the controller is waiting to start.

Parameters

time	The current time

Definition at line 87 of file controller_base.h.

waitRequest()

bool controller_interface::ControllerBase::waitRequest ( const ros::Time &  time )

inline

Calls waiting unless this controller is just constructed.

Definition at line 180 of file controller_base.h.

Member Data Documentation

state_

ControllerState controller_interface::ControllerBase::state_ = ControllerState::CONSTRUCTED

The current execution state of the controller.

Definition at line 254 of file controller_base.h.

---

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

• controller_base.h