The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequency We use MONOTONIC time to ensure robustness in the event of system time updates/change. See http://stackoverflow.com/questions/3523442/difference-between-clock-realtime-and-clock-monotonic.
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#include <generic_hw_control_loop.h>
The control loop - repeatidly calls read() and write() to the hardware interface at a specified frequency We use MONOTONIC time to ensure robustness in the event of system time updates/change. See http://stackoverflow.com/questions/3523442/difference-between-clock-realtime-and-clock-monotonic.
Definition at line 55 of file generic_hw_control_loop.h.
| void ros_control_boilerplate::GenericHWControlLoop::run |
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| void ros_control_boilerplate::GenericHWControlLoop::update |
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ROS Controller Manager and Runner.
This class advertises a ROS interface for loading, unloading, starting, and stopping ros_control-based controllers. It also serializes execution of all running controllers in update.
Definition at line 97 of file generic_hw_control_loop.h.
| struct timespec ros_control_boilerplate::GenericHWControlLoop::current_time_ |
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| double ros_control_boilerplate::GenericHWControlLoop::cycle_time_error_threshold_ |
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| ros::Duration ros_control_boilerplate::GenericHWControlLoop::desired_update_period_ |
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| ros::Duration ros_control_boilerplate::GenericHWControlLoop::elapsed_time_ |
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| struct timespec ros_control_boilerplate::GenericHWControlLoop::last_time_ |
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| double ros_control_boilerplate::GenericHWControlLoop::loop_hz_ |
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| std::string ros_control_boilerplate::GenericHWControlLoop::name_ = "generic_hw_control_loop" |
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The documentation for this class was generated from the following files: