forward_command_controller::ForwardJointGroupCommandController< T > Class Template Reference

Forward command controller for a set of joints. More...

#include <forward_joint_group_command_controller.h>

Inheritance diagram for forward_command_controller::ForwardJointGroupCommandController< T >:

Public Member Functions
	ForwardJointGroupCommandController ()
bool	init (T *hw, ros::NodeHandle &n)
void	starting (const ros::Time &time)
void	update (const ros::Time &, const ros::Duration &)
	~ForwardJointGroupCommandController ()
Public Member Functions inherited from controller_interface::Controller< T >
	Controller ()
virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)
virtual	~Controller ()
Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()
bool	isRunning ()
bool	isRunning ()
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	stopping (const ros::Time &)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual	~ControllerBase ()

Public Attributes
realtime_tools::RealtimeBuffer< std::vector< double > >	commands_buffer_
std::vector< std::string >	joint_names_
std::vector< hardware_interface::JointHandle >	joints_
unsigned int	n_joints_
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_

Private Member Functions
void	commandCB (const std_msgs::Float64MultiArrayConstPtr &msg)

Private Attributes
ros::Subscriber	sub_command_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Protected Member Functions inherited from controller_interface::Controller< T >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

template<class T>
class forward_command_controller::ForwardJointGroupCommandController< T >

Forward command controller for a set of joints.

This class forwards the command signal down to a set of joints. Command signal and joint hardware interface are of the same type, e.g. effort commands for an effort-controlled joint.

Template Parameters

T	Type implementing the JointCommandInterface.

interface

Parameters

type	hardware interface type.
joints	Names of the joints to control.

Subscribes to:

• command (std_msgs::Float64MultiArray) : The joint commands to apply.

Definition at line 73 of file forward_joint_group_command_controller.h.

Constructor & Destructor Documentation

template<class T >

forward_command_controller::ForwardJointGroupCommandController< T >::ForwardJointGroupCommandController ( )

inline

Definition at line 76 of file forward_joint_group_command_controller.h.

template<class T >

forward_command_controller::ForwardJointGroupCommandController< T >::~ForwardJointGroupCommandController ( )

inline

Definition at line 77 of file forward_joint_group_command_controller.h.

Member Function Documentation

template<class T >

void forward_command_controller::ForwardJointGroupCommandController< T >::commandCB ( const std_msgs::Float64MultiArrayConstPtr &  msg )

inlineprivate

Definition at line 128 of file forward_joint_group_command_controller.h.

template<class T >

bool forward_command_controller::ForwardJointGroupCommandController< T >::init ( T *  hw, ros::NodeHandle &  n  )

inlinevirtual

Reimplemented from controller_interface::Controller< T >.

Definition at line 79 of file forward_joint_group_command_controller.h.

template<class T >

void forward_command_controller::ForwardJointGroupCommandController< T >::starting ( const ros::Time &  time )

virtual

Reimplemented from controller_interface::ControllerBase.

template<class T >

void forward_command_controller::ForwardJointGroupCommandController< T >::update ( const ros::Time &  , const ros::Duration &    )

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 114 of file forward_joint_group_command_controller.h.

Member Data Documentation

template<class T >

realtime_tools::RealtimeBuffer<std::vector<double> > forward_command_controller::ForwardJointGroupCommandController< T >::commands_buffer_

Definition at line 123 of file forward_joint_group_command_controller.h.

template<class T >

std::vector< std::string > forward_command_controller::ForwardJointGroupCommandController< T >::joint_names_

Definition at line 121 of file forward_joint_group_command_controller.h.

template<class T >

std::vector< hardware_interface::JointHandle > forward_command_controller::ForwardJointGroupCommandController< T >::joints_

Definition at line 122 of file forward_joint_group_command_controller.h.

template<class T >

unsigned int forward_command_controller::ForwardJointGroupCommandController< T >::n_joints_

Definition at line 124 of file forward_joint_group_command_controller.h.

template<class T >

ros::Subscriber forward_command_controller::ForwardJointGroupCommandController< T >::sub_command_

private

Definition at line 127 of file forward_joint_group_command_controller.h.

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

• forward_joint_group_command_controller.h