Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
controller::MultiTriggerController Class Reference

#include <multi_trigger_controller.h>

Inheritance diagram for controller::MultiTriggerController:
Inheritance graph
[legend]

Public Member Functions

bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 
 MultiTriggerController ()
 
void update ()
 
 ~MultiTriggerController ()
 
- 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)
 
virtual void starting ()
 
bool startRequest ()
 
void stopping (const ros::Time &time)
 
virtual void stopping ()
 
bool stopRequest ()
 
void update (const ros::Time &time, const ros::Duration &period)
 
void updateRequest ()
 
virtual ~Controller ()
 

Private Types

typedef ethercat_trigger_controllers::MultiWaveform config_t
 

Private Member Functions

bool setMultiWaveformSrv (ethercat_trigger_controllers::SetMultiWaveform::Request &req, ethercat_trigger_controllers::SetMultiWaveform::Response &resp)
 

Private Attributes

config_t config_
 
boost::mutex config_mutex_
 
pr2_hardware_interface::DigitalOutCommanddigital_out_command_
 
std::string digital_output_name_
 
ros::NodeHandle node_handle_
 
std::vector< boost::shared_ptr< realtime_tools::RealtimePublisher< std_msgs::Header > > > pubs_
 
pr2_mechanism_model::RobotStaterobot_
 
ros::ServiceServer set_waveform_handle_
 
unsigned int transition_index_
 
double transition_period_
 
double transition_time_
 
ros::Publisher waveform_
 

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 58 of file multi_trigger_controller.h.

Member Typedef Documentation

◆ config_t

typedef ethercat_trigger_controllers::MultiWaveform controller::MultiTriggerController::config_t
private

Definition at line 60 of file multi_trigger_controller.h.

Constructor & Destructor Documentation

◆ MultiTriggerController()

MultiTriggerController::MultiTriggerController ( )

Definition at line 49 of file multi_trigger_controller.cpp.

◆ ~MultiTriggerController()

MultiTriggerController::~MultiTriggerController ( )

Definition at line 54 of file multi_trigger_controller.cpp.

Member Function Documentation

◆ init()

bool MultiTriggerController::init ( pr2_mechanism_model::RobotState robot,
ros::NodeHandle n 
)
virtual

◆ setMultiWaveformSrv()

bool MultiTriggerController::setMultiWaveformSrv ( ethercat_trigger_controllers::SetMultiWaveform::Request &  req,
ethercat_trigger_controllers::SetMultiWaveform::Response &  resp 
)
private

Definition at line 182 of file multi_trigger_controller.cpp.

◆ update()

void MultiTriggerController::update ( void  )
virtual

Implements pr2_controller_interface::Controller.

Definition at line 58 of file multi_trigger_controller.cpp.

Member Data Documentation

◆ config_

config_t controller::MultiTriggerController::config_
private

Definition at line 92 of file multi_trigger_controller.h.

◆ config_mutex_

boost::mutex controller::MultiTriggerController::config_mutex_
private

Definition at line 71 of file multi_trigger_controller.h.

◆ digital_out_command_

pr2_hardware_interface::DigitalOutCommand* controller::MultiTriggerController::digital_out_command_
private

Definition at line 78 of file multi_trigger_controller.h.

◆ digital_output_name_

std::string controller::MultiTriggerController::digital_output_name_
private

Definition at line 93 of file multi_trigger_controller.h.

◆ node_handle_

ros::NodeHandle controller::MultiTriggerController::node_handle_
private

Definition at line 86 of file multi_trigger_controller.h.

◆ pubs_

std::vector<boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Header> > > controller::MultiTriggerController::pubs_
private

Definition at line 89 of file multi_trigger_controller.h.

◆ robot_

pr2_mechanism_model::RobotState* controller::MultiTriggerController::robot_
private

Definition at line 77 of file multi_trigger_controller.h.

◆ set_waveform_handle_

ros::ServiceServer controller::MultiTriggerController::set_waveform_handle_
private

Definition at line 85 of file multi_trigger_controller.h.

◆ transition_index_

unsigned int controller::MultiTriggerController::transition_index_
private

Definition at line 83 of file multi_trigger_controller.h.

◆ transition_period_

double controller::MultiTriggerController::transition_period_
private

Definition at line 82 of file multi_trigger_controller.h.

◆ transition_time_

double controller::MultiTriggerController::transition_time_
private

Definition at line 81 of file multi_trigger_controller.h.

◆ waveform_

ros::Publisher controller::MultiTriggerController::waveform_
private

Definition at line 87 of file multi_trigger_controller.h.


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


ethercat_trigger_controllers
Author(s): Blaise Gassend
autogenerated on Sat Nov 12 2022 03:16:21