Inheritance diagram for generic_control_toolbox::ControllerBase:

Public Member Functions
	ControllerBase (ros::NodeHandle nh=ros::NodeHandle("~"))

virtual bool	isActive () const =0

virtual void	resetInternalState ()=0

virtual sensor_msgs::JointState	updateControl (const sensor_msgs::JointState &current_state, const ros::Duration &dt)=0

virtual	~ControllerBase ()

Detailed Description

Defines the basic cartesian controller interface.

Definition at line 18 of file controller_template.hpp.

Constructor & Destructor Documentation

generic_control_toolbox::ControllerBase::ControllerBase ( ros::NodeHandle nh = ros::NodeHandle("~") )

Definition at line 5 of file controller_template.cpp.

generic_control_toolbox::ControllerBase::~ControllerBase ( )

virtual

Definition at line 6 of file controller_template.cpp.

virtual bool generic_control_toolbox::ControllerBase::isActive ( ) const

pure virtual

Indicates if the controller is active.

Returns: True if active, and the controller output is to be used, False otherwise.

virtual void generic_control_toolbox::ControllerBase::resetInternalState ( )

pure virtual

Allows resetting the internal controller state.

virtual sensor_msgs::JointState generic_control_toolbox::ControllerBase::updateControl	(	const sensor_msgs::JointState &	current_state,
		const ros::Duration &	dt
	)

pure virtual

Method for computing the desired joint states given the control algorithm.

Parameters

current_state	Current joint states.
dt	Elapsed time since last control loop.

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