my_controller_ns::MyControllerClass Class Reference

#include <test_controller.h>

Inheritance diagram for my_controller_ns::MyControllerClass:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Controller initialization in non-realtime. More...
void	starting ()
	Controller startup in realtime. More...
void	stopping ()
	Controller stopping in realtime. More...
void	update ()
	Controller update loop in realtime. More...
Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()
bool	getController (const std::string &name, int sched, ControllerType *&c)
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
void	starting (const ros::Time &time)
bool	startRequest ()
void	stopping (const ros::Time &time)
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
void	updateRequest ()
virtual	~Controller ()

Private Member Functions
bool	serviceCallback (pr2_mechanism_msgs::LoadController::Request &req, pr2_mechanism_msgs::LoadController::Response &resp)
	Service call. More...

Private Attributes
pr2_mechanism_model::Chain	chain_
unsigned int	counter_
pr2_mechanism_model::JointState *	joint_state_
KDL::Chain	kdl_chain_
double	max_effort_
boost::scoped_ptr< realtime_tools::RealtimePublisher< sensor_msgs::JointState > >	pub_
pr2_mechanism_model::RobotState *	robot_
ros::ServiceServer	srv_
ros::Time	time_of_last_cycle_

Additional Inherited Members
Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_
	AFTER_ME
std::vector< std::string >	before_list_
	BEFORE_ME
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum pr2_controller_interface::Controller:: { ... }	state_

Detailed Description

Definition at line 14 of file test_controller.h.

Member Function Documentation

bool MyControllerClass::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Controller initialization in non-realtime.

Implements pr2_controller_interface::Controller.

Definition at line 9 of file test_controller.cpp.

bool MyControllerClass::serviceCallback ( pr2_mechanism_msgs::LoadController::Request &  req, pr2_mechanism_msgs::LoadController::Response &  resp  )

private

Service call.

Definition at line 122 of file test_controller.cpp.

void MyControllerClass::starting ( )

virtual

Controller startup in realtime.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 86 of file test_controller.cpp.

void MyControllerClass::stopping ( )

virtual

Controller stopping in realtime.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 117 of file test_controller.cpp.

void MyControllerClass::update ( void  )

virtual

Controller update loop in realtime.

Implements pr2_controller_interface::Controller.

Definition at line 94 of file test_controller.cpp.

Member Data Documentation

pr2_mechanism_model::Chain my_controller_ns::MyControllerClass::chain_

private

Definition at line 24 of file test_controller.h.

unsigned int my_controller_ns::MyControllerClass::counter_

private

Definition at line 28 of file test_controller.h.

pr2_mechanism_model::JointState* my_controller_ns::MyControllerClass::joint_state_

private

Definition at line 23 of file test_controller.h.

KDL::Chain my_controller_ns::MyControllerClass::kdl_chain_

private

Definition at line 25 of file test_controller.h.

double my_controller_ns::MyControllerClass::max_effort_

private

Definition at line 27 of file test_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<sensor_msgs::JointState> > my_controller_ns::MyControllerClass::pub_

private

Definition at line 21 of file test_controller.h.

pr2_mechanism_model::RobotState* my_controller_ns::MyControllerClass::robot_

private

Definition at line 22 of file test_controller.h.

ros::ServiceServer my_controller_ns::MyControllerClass::srv_

private

Definition at line 20 of file test_controller.h.

ros::Time my_controller_ns::MyControllerClass::time_of_last_cycle_

private

Definition at line 26 of file test_controller.h.

---

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

• test_controller.h
• test_controller.cpp