cob_omni_drive_controller::WheelMultiController Class Reference

Inheritance diagram for cob_omni_drive_controller::WheelMultiController:

Public Member Functions
virtual bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void	update (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from cob_omni_drive_controller::WheelControllerBase< GeomMultiController >
bool	setup (ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
virtual void	starting (const ros::Time &time)
virtual void	stopping (const ros::Time &time)
void	updateCtrl (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::JointHandle, UndercarriageDirectCtrl >
void	updateState ()
Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)
virtual void	aborting (const ros::Time &)
bool	abortRequest (const ros::Time &time)
bool	abortRequest (const ros::Time &time)
	ControllerBase ()=default
	ControllerBase (const ControllerBase &)=delete
	ControllerBase (ControllerBase &&)=delete
bool	isAborted () const
bool	isAborted () const
bool	isInitialized () const
bool	isInitialized () const
bool	isRunning () const
bool	isRunning () const
bool	isStopped () const
bool	isStopped () const
bool	isWaiting () const
bool	isWaiting () const
ControllerBase &	operator= (const ControllerBase &)=delete
ControllerBase &	operator= (ControllerBase &&)=delete
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual void	waiting (const ros::Time &)
virtual void	waiting (const ros::Time &)
bool	waitRequest (const ros::Time &time)
bool	waitRequest (const ros::Time &time)
virtual	~ControllerBase ()=default

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
enum	ControllerState {   ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED,   ControllerState::WAITING, ControllerState::ABORTED }
Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_
Protected Member Functions inherited from cob_omni_drive_controller::WheelControllerBase< GeomMultiController >
void	topicCallbackTwistCmd (const geometry_msgs::Twist::ConstPtr &msg)
Protected Member Functions inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::JointHandle, UndercarriageDirectCtrl >
bool	setup (const std::vector< typename UndercarriageDirectCtrl ::WheelParams > &wheel_params)
Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)
static void	extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)
Protected Attributes inherited from cob_omni_drive_controller::WheelControllerBase< GeomMultiController >
boost::scoped_ptr< realtime_tools::RealtimePublisher< cob_base_controller_utils::WheelCommands > >	commands_pub_
uint32_t	cycles_
double	max_vel_rot_
double	max_vel_trans_
boost::mutex	mutex_
uint32_t	pub_divider_
struct cob_omni_drive_controller::WheelControllerBase::Target	target_
ros::Duration	timeout_
ros::Subscriber	twist_subscriber_
std::vector< WheelCommand >	wheel_commands_
Protected Attributes inherited from cob_omni_drive_controller::GeomControllerBase< hardware_interface::JointHandle, UndercarriageDirectCtrl >
std::vector< hardware_interface::JointHandle >	drive_joints_
boost::scoped_ptr< UndercarriageDirectCtrl >	geom_
std::vector< hardware_interface::JointHandle >	steer_joints_
std::vector< WheelState >	wheel_states_
Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 13 of file control_multi_plugin.cpp.

Member Function Documentation

init()

virtual bool cob_omni_drive_controller::WheelMultiController::init ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

inlinevirtual

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::VelocityJointInterface, hardware_interface::PositionJointInterface >.

Definition at line 16 of file control_multi_plugin.cpp.

update()

virtual void cob_omni_drive_controller::WheelMultiController::update ( const ros::Time &  time, const ros::Duration &  period  )

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 36 of file control_multi_plugin.cpp.

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

• control_multi_plugin.cpp