controller_manager_tests::PosEffOptController Class Reference

#include <pos_eff_opt_controller.h>

Inheritance diagram for controller_manager_tests::PosEffOptController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &n) override
	PosEffOptController ()
void	starting (const ros::Time &time) override
void	stopping (const ros::Time &time) override
void	update (const ros::Time &time, const ros::Duration &period) override
Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::EffortJointInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, 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

Private Attributes
std::vector< hardware_interface::JointHandle >	eff_cmd_
std::vector< hardware_interface::JointHandle >	pos_cmd_

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 controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::EffortJointInterface >
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::PositionJointInterface, hardware_interface::EffortJointInterface >
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 controller_interface::MultiInterfaceController< hardware_interface::PositionJointInterface, hardware_interface::EffortJointInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 38 of file pos_eff_opt_controller.h.

Constructor & Destructor Documentation

PosEffOptController()

controller_manager_tests::PosEffOptController::PosEffOptController ( )

inline

Definition at line 44 of file pos_eff_opt_controller.h.

Member Function Documentation

init()

bool PosEffOptController::init ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  n  )

overridevirtual

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

Definition at line 32 of file pos_eff_opt_controller.cpp.

starting()

void PosEffOptController::starting ( const ros::Time &  time )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 78 of file pos_eff_opt_controller.cpp.

stopping()

void PosEffOptController::stopping ( const ros::Time &  time )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 86 of file pos_eff_opt_controller.cpp.

update()

void PosEffOptController::update ( const ros::Time &  time, const ros::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 83 of file pos_eff_opt_controller.cpp.

Member Data Documentation

eff_cmd_

std::vector<hardware_interface::JointHandle> controller_manager_tests::PosEffOptController::eff_cmd_

private

Definition at line 55 of file pos_eff_opt_controller.h.

pos_cmd_

std::vector<hardware_interface::JointHandle> controller_manager_tests::PosEffOptController::pos_cmd_

private

Definition at line 54 of file pos_eff_opt_controller.h.

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

• pos_eff_opt_controller.h
• pos_eff_opt_controller.cpp