prbt_hardware_support::OperationModeSetupExecutor Class Reference

Activates speed monitoring and sets the speed override based on the current operation mode. More...

#include <operation_mode_setup_executor.h>

Public Member Functions
bool	getSpeedOverride (pilz_msgs::GetSpeedOverride::Request &, pilz_msgs::GetSpeedOverride::Response &response)
	OperationModeSetupExecutor (const MonitorCartesianSpeedFunc &monitor_cartesian_speed_func)
	Ctor. More...
void	updateOperationMode (const pilz_msgs::OperationModes &operation_mode)
	Function to be called whenever a new operation mode is set. More...

Private Attributes
MonitorCartesianSpeedFunc	monitor_cartesian_speed_func_
	Function used to (de-)activate cartesian speed monitoring. More...
std::atomic< double >	speed_override_ { 0.0 }
	The active speed override. More...
ros::Time	time_stamp_last_op_mode_ { ros::Time(0) }
	Time stamp of the last received operation mode. More...

Detailed Description

Activates speed monitoring and sets the speed override based on the current operation mode.

Definition at line 37 of file operation_mode_setup_executor.h.

Constructor & Destructor Documentation

OperationModeSetupExecutor()

prbt_hardware_support::OperationModeSetupExecutor::OperationModeSetupExecutor

(

const MonitorCartesianSpeedFunc &

monitor_cartesian_speed_func

)

Ctor.

Parameters

monitor_cartesian_speed_func

Function allowing to turn on/off the monitoring of the cartesian speed.

Definition at line 24 of file operation_mode_setup_executor.cpp.

Member Function Documentation

getSpeedOverride()

bool prbt_hardware_support::OperationModeSetupExecutor::getSpeedOverride	(	pilz_msgs::GetSpeedOverride::Request &	,
		pilz_msgs::GetSpeedOverride::Response &	response
	)

Definition at line 60 of file operation_mode_setup_executor.cpp.

updateOperationMode()

void prbt_hardware_support::OperationModeSetupExecutor::updateOperationMode

(

const pilz_msgs::OperationModes &

operation_mode

)

Function to be called whenever a new operation mode is set.

Definition at line 29 of file operation_mode_setup_executor.cpp.

Member Data Documentation

monitor_cartesian_speed_func_

MonitorCartesianSpeedFunc prbt_hardware_support::OperationModeSetupExecutor::monitor_cartesian_speed_func_

private

Function used to (de-)activate cartesian speed monitoring.

Definition at line 60 of file operation_mode_setup_executor.h.

speed_override_

std::atomic<double> prbt_hardware_support::OperationModeSetupExecutor::speed_override_ { 0.0 }

private

The active speed override.

Definition at line 57 of file operation_mode_setup_executor.h.

time_stamp_last_op_mode_

ros::Time prbt_hardware_support::OperationModeSetupExecutor::time_stamp_last_op_mode_ { ros::Time(0) }

private

Time stamp of the last received operation mode.

Definition at line 62 of file operation_mode_setup_executor.h.

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

• operation_mode_setup_executor.h
• operation_mode_setup_executor.cpp