#include <controller.h>

Inheritance diagram for pr2_controller_interface::Controller:

Public Types
enum	{ BEFORE_ME, AFTER_ME }

enum	{ CONSTRUCTED, INITIALIZED, RUNNING }

Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Member Functions
	Controller ()

template<class ControllerType >
bool	getController (const std::string &name, int sched, ControllerType *&c)
	Method to get access to another controller by name and type. More...

virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)=0
	The init function is called to initialize the controller from a non-realtime thread. More...

bool	initRequest (ControllerProvider cp, pr2_mechanism_model::RobotState robot, ros::NodeHandle &n)

bool	isRunning ()
	Check if the controller is running. More...

void	starting (const ros::Time &time)

virtual void	starting ()
	The starting method is called just before the first update from within the realtime thread. More...

bool	startRequest ()

void	stopping (const ros::Time &time)

virtual void	stopping ()
	The stopping method is called by the realtime thread just after the last update call. More...

bool	stopRequest ()

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

virtual void	update (void)=0
	The update method is called periodically by the realtime thread when the controller is running. More...

void	updateRequest ()

virtual	~Controller ()

Public Member Functions inherited from controller_interface::Controller< pr2_mechanism_model::RobotState >
	Controller ()

virtual bool	init (pr2_mechanism_model::RobotState *, ros::NodeHandle &, ros::NodeHandle &)

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)

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
std::vector< std::string >	after_list_

std::vector< std::string >	before_list_

enum pr2_controller_interface::Controller:: { ... }	state_

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Private Member Functions
	Controller (const Controller &c)

Controller &	operator= (const Controller &c)

Private Attributes
ControllerProvider *	contr_prov_

Additional Inherited Members
Protected Member Functions inherited from controller_interface::Controller< pr2_mechanism_model::RobotState >
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

Definition at line 53 of file controller.h.

Member Enumeration Documentation

anonymous enum

Enumerator
BEFORE_ME
AFTER_ME

Definition at line 56 of file controller.h.

anonymous enum

Enumerator
CONSTRUCTED
INITIALIZED
RUNNING

Definition at line 166 of file controller.h.

Constructor & Destructor Documentation

pr2_controller_interface::Controller::Controller ( )

inline

Definition at line 58 of file controller.h.

virtual pr2_controller_interface::Controller::~Controller ( )

inlinevirtual

Reimplemented from controller_interface::Controller< pr2_mechanism_model::RobotState >.

Definition at line 59 of file controller.h.

pr2_controller_interface::Controller::Controller ( const Controller & c )

private

Member Function Documentation

template<class ControllerType >

bool pr2_controller_interface::Controller::getController	(	const std::string &	name,
		int	sched,
		ControllerType *&	c
	)

inline

Method to get access to another controller by name and type.

Definition at line 90 of file controller.h.

virtual bool pr2_controller_interface::Controller::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

pure virtual

The init function is called to initialize the controller from a non-realtime thread.

Parameters

robot	A RobotState object which can be used to read joint states and write out effort commands.
n	A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface.

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

Reimplemented from controller_interface::Controller< pr2_mechanism_model::RobotState >.

bool pr2_controller_interface::Controller::initRequest	(	ControllerProvider *	cp,
		pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

inline

Definition at line 146 of file controller.h.

bool pr2_controller_interface::Controller::isRunning ( )

inline

Check if the controller is running.

Definition at line 110 of file controller.h.

Controller& pr2_controller_interface::Controller::operator= ( const Controller & c )

private

void pr2_controller_interface::Controller::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 61 of file controller.h.

virtual void pr2_controller_interface::Controller::starting ( )

inlinevirtual

The starting method is called just before the first update from within the realtime thread.

Definition at line 66 of file controller.h.

bool pr2_controller_interface::Controller::startRequest ( )

inline

Definition at line 121 of file controller.h.

void pr2_controller_interface::Controller::stopping ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 63 of file controller.h.

virtual void pr2_controller_interface::Controller::stopping ( )

inlinevirtual

The stopping method is called by the realtime thread just after the last update call.

Definition at line 72 of file controller.h.

bool pr2_controller_interface::Controller::stopRequest ( )

inline

Definition at line 134 of file controller.h.

void pr2_controller_interface::Controller::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 62 of file controller.h.

virtual void pr2_controller_interface::Controller::update ( void )

pure virtual

The update method is called periodically by the realtime thread when the controller is running.

void pr2_controller_interface::Controller::updateRequest ( )

inline

Definition at line 115 of file controller.h.

Member Data Documentation

std::vector<std::string> pr2_controller_interface::Controller::after_list_

Definition at line 164 of file controller.h.

std::vector<std::string> pr2_controller_interface::Controller::before_list_

Definition at line 164 of file controller.h.

ControllerProvider* pr2_controller_interface::Controller::contr_prov_

private

Definition at line 171 of file controller.h.

enum { ... } pr2_controller_interface::Controller::state_

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

controller.h

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation