generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult > Class Template Reference

#include <controller_template.hpp>

Inheritance diagram for generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >:

Public Member Functions
	ControllerTemplate (const std::string &action_name, ros::NodeHandle nh=ros::NodeHandle("~"))
virtual bool	isActive () const
virtual void	resetInternalState ()
virtual sensor_msgs::JointState	updateControl (const sensor_msgs::JointState &current_state, const ros::Duration &dt)
virtual	~ControllerTemplate ()
Public Member Functions inherited from generic_control_toolbox::ControllerBase
	ControllerBase (ros::NodeHandle nh=ros::NodeHandle("~"))
virtual	~ControllerBase ()

Protected Member Functions
virtual sensor_msgs::JointState	controlAlgorithm (const sensor_msgs::JointState &current_state, const ros::Duration &dt)=0
sensor_msgs::JointState	lastState (const sensor_msgs::JointState &current)
virtual bool	parseGoal (boost::shared_ptr< const ActionGoal > goal)=0
virtual void	resetController ()=0

Protected Attributes
boost::shared_ptr< actionlib::SimpleActionServer< ActionClass > >	action_server_
ActionFeedback	feedback_
ActionResult	result_

Private Member Functions
virtual bool	goalCB ()
virtual void	preemptCB ()
void	resetFlags ()
void	startActionlib ()

Private Attributes
bool	acquired_goal_
std::string	action_name_
std::shared_ptr< BagManager >	bag_manager_
bool	has_state_
sensor_msgs::JointState	last_state_
ros::NodeHandle	nh_

Detailed Description

template<class ActionClass, class ActionGoal, class ActionFeedback, class ActionResult>
class generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >

A controller interface which implements the SimpleActionServer actionlib protocol.

Definition at line 56 of file controller_template.hpp.

Constructor & Destructor Documentation

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::ControllerTemplate	(	const std::string &	action_name,
		ros::NodeHandle	nh = ros::NodeHandle("~")
	)

Definition at line 141 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::~ControllerTemplate ( )

virtual

Definition at line 318 of file controller_template.hpp.

Member Function Documentation

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

virtual sensor_msgs::JointState generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::controlAlgorithm ( const sensor_msgs::JointState &  current_state, const ros::Duration &  dt  )

protectedpure virtual

Implementation of the actual control method.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

bool generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::goalCB ( )

privatevirtual

Goal callback method.

Definition at line 266 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

bool generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::isActive ( ) const

virtual

Indicates if the controller is active.

Returns

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

Implements generic_control_toolbox::ControllerBase.

Definition at line 199 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

sensor_msgs::JointState generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::lastState ( const sensor_msgs::JointState &  current )

protected

Return the last controlled joint state. If the controller does not have an active actionlib goal, it will set the references of the joint controller to the last desired position (and null velocity).

Parameters

current

The current joint state.

Returns

The last commanded joint state before the actionlib goal was preempted or completed.

Definition at line 241 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

virtual bool generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::parseGoal ( boost::shared_ptr< const ActionGoal >  goal )

protectedpure virtual

Read goal data.

Parameters

goal	The goal pointer from actionlib.

Returns

True in case of success, false otherwise.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

void generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::preemptCB ( )

privatevirtual

Preempt callback method.

Definition at line 308 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

virtual void generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::resetController ( )

protectedpure virtual

Reset the controller to a default state.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

void generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::resetFlags ( )

private

Resets controller flags

Definition at line 226 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

void generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::resetInternalState ( )

virtual

Allows resetting the internal controller state.

Implements generic_control_toolbox::ControllerBase.

Definition at line 212 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

void generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::startActionlib ( )

private

Method that manages the starting of the actionlib server of each cartesian controller.

Definition at line 325 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

sensor_msgs::JointState generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::updateControl ( const sensor_msgs::JointState &  current_state, const ros::Duration &  dt  )

virtual

Wraps the control algorithm with actionlib-related management.

Implements generic_control_toolbox::ControllerBase.

Definition at line 152 of file controller_template.hpp.

Member Data Documentation

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

bool generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::acquired_goal_

private

Definition at line 135 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

std::string generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::action_name_

private

Definition at line 131 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

boost::shared_ptr<actionlib::SimpleActionServer<ActionClass> > generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::action_server_

protected

Definition at line 105 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

std::shared_ptr<BagManager> generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::bag_manager_

private

Definition at line 133 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

ActionFeedback generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::feedback_

protected

Definition at line 106 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

bool generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::has_state_

private

Definition at line 135 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

sensor_msgs::JointState generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::last_state_

private

Definition at line 134 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

ros::NodeHandle generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::nh_

private

Definition at line 132 of file controller_template.hpp.

template<class ActionClass , class ActionGoal , class ActionFeedback , class ActionResult >

ActionResult generic_control_toolbox::ControllerTemplate< ActionClass, ActionGoal, ActionFeedback, ActionResult >::result_

protected

Definition at line 107 of file controller_template.hpp.

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

• controller_template.hpp