Abstract Controller Interface.
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#include <controller_base.h>
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| enum controller_interface::ControllerBase:: { ... } | state_ = {CONSTRUCTED} |
| | The current execution state of the controller. More...
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Abstract Controller Interface.
Definition at line 48 of file controller_base.h.
◆ ClaimedResources
◆ anonymous enum
The current execution state of the controller.
| Enumerator |
|---|
| CONSTRUCTED | |
| INITIALIZED | |
| RUNNING | |
| STOPPED | |
| WAITING | |
| ABORTED | |
Definition at line 244 of file controller_base.h.
◆ ControllerBase() [1/3]
| controller_interface::ControllerBase::ControllerBase |
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default |
◆ ~ControllerBase()
| virtual controller_interface::ControllerBase::~ControllerBase |
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virtualdefault |
◆ ControllerBase() [2/3]
| controller_interface::ControllerBase::ControllerBase |
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const ControllerBase & |
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delete |
◆ ControllerBase() [3/3]
| controller_interface::ControllerBase::ControllerBase |
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ControllerBase && |
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delete |
◆ aborting()
| virtual void controller_interface::ControllerBase::aborting |
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const ros::Time & |
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inlinevirtual |
This is called from within the realtime thread when the controller needs to be aborted.
- Parameters
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Definition at line 94 of file controller_base.h.
◆ abortRequest()
| bool controller_interface::ControllerBase::abortRequest |
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const ros::Time & |
time | ) |
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inline |
Calls abort unless this controller is just constructed.
Definition at line 197 of file controller_base.h.
◆ initRequest()
Request that the controller be initialized.
- Parameters
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| robot_hw | The robot hardware abstraction. |
| root_nh | A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services). |
| controller_nh | A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides. |
| [out] | claimed_resources | The resources claimed by this controller. They can belong to multiple hardware interfaces. |
- Returns
- True if initialization was successful and the controller is ready to be started.
Implemented in controller_interface::MultiInterfaceController< T >, and controller_interface::Controller< T >.
◆ isAborted()
| bool controller_interface::ControllerBase::isAborted |
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const |
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inline |
Check if the controller is aborted.
- Returns
- true if the controller is aborted
Definition at line 131 of file controller_base.h.
◆ isInitialized()
| bool controller_interface::ControllerBase::isInitialized |
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const |
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inline |
Check if the controller is initialized.
- Returns
- true if the controller is initialized
Definition at line 99 of file controller_base.h.
◆ isRunning()
| bool controller_interface::ControllerBase::isRunning |
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const |
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inline |
Check if the controller is running.
- Returns
- true if the controller is running
Definition at line 107 of file controller_base.h.
◆ isStopped()
| bool controller_interface::ControllerBase::isStopped |
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const |
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inline |
Check if the controller is stopped.
- Returns
- true if the controller is stopped
Definition at line 115 of file controller_base.h.
◆ isWaiting()
| bool controller_interface::ControllerBase::isWaiting |
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const |
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inline |
Check if the controller is waiting.
- Returns
- true if the controller is waiting
Definition at line 123 of file controller_base.h.
◆ operator=() [1/2]
◆ operator=() [2/2]
◆ starting()
| virtual void controller_interface::ControllerBase::starting |
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const ros::Time & |
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inlinevirtual |
This is called from within the realtime thread just before the first call to update.
- Parameters
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Definition at line 66 of file controller_base.h.
◆ startRequest()
| bool controller_interface::ControllerBase::startRequest |
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const ros::Time & |
time | ) |
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inline |
◆ stopping()
| virtual void controller_interface::ControllerBase::stopping |
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const ros::Time & |
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inlinevirtual |
This is called from within the realtime thread just after the last update call before the controller is stopped.
- Parameters
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Definition at line 80 of file controller_base.h.
◆ stopRequest()
| bool controller_interface::ControllerBase::stopRequest |
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const ros::Time & |
time | ) |
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inline |
◆ update()
| virtual void controller_interface::ControllerBase::update |
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const ros::Time & |
time, |
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const ros::Duration & |
period |
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) |
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pure virtual |
This is called periodically by the realtime thread when the controller is running.
- Parameters
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| time | The current time |
| period | The time passed since the last call to update |
◆ updateRequest()
| void controller_interface::ControllerBase::updateRequest |
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const ros::Time & |
time, |
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const ros::Duration & |
period |
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) |
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inline |
◆ waiting()
| virtual void controller_interface::ControllerBase::waiting |
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const ros::Time & |
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inlinevirtual |
This is called from within the realtime thread while the controller is waiting to start.
- Parameters
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Definition at line 87 of file controller_base.h.
◆ waitRequest()
| bool controller_interface::ControllerBase::waitRequest |
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const ros::Time & |
time | ) |
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inline |
◆ state_
| enum { ... } controller_interface::ControllerBase::state_ |
The current execution state of the controller.
The documentation for this class was generated from the following file:
