moveit_controller_manager::MoveItControllerManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_. More...

Inheritance diagram for moveit_ros_control_interface::MoveItControllerManager:

[legend]

Public Member Functions
void	getActiveControllers (std::vector< std::string > &names) override
	Refresh controller list and output all active, managed controllers. More...

moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name) override
	Find and return the pre-allocated handle for the given controller. More...

void	getControllerJoints (const std::string &name, std::vector< std::string > &joints) override
	Read resources from cached controller states. More...

void	getControllersList (std::vector< std::string > &names) override
	Refresh controller list and output all managed controllers. More...

ControllerState	getControllerState (const std::string &name) override
	Refresh controller state and output the state of the given one, only active_ will be set. More...

	MoveItControllerManager ()
	The default constructor. Reads the namespace from ~ros_control_namespace param and defaults to /. More...

	MoveItControllerManager (const std::string &ns)
	Configure interface with namespace. More...

bool	switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate) override
	Filter lists for managed controller and computes switching set. Stopped list might be extended by unsupported controllers that claim needed resources. More...

Public Member Functions inherited from moveit_controller_manager::MoveItControllerManager
	MoveItControllerManager ()

virtual	~MoveItControllerManager ()

Private Types
typedef std::map< std::string, ControllerHandleAllocatorPtr >	AllocatorsMap

typedef std::map< std::string, controller_manager_msgs::ControllerState >	ControllersMap

typedef std::map< std::string, moveit_controller_manager::MoveItControllerHandlePtr >	HandleMap

Private Member Functions
void	allocate (const std::string &name, const controller_manager_msgs::ControllerState &controller)
	Allocates a MoveItControllerHandle instance for the given controller Might create allocator object first. More...

void	discover (bool force=false)
	Call list_controllers and populate managed_controllers_ and active_controllers_. Allocates handles if needed. Throttled down to 1 Hz, controllers_mutex_ must be locked externally. More...

std::string	getAbsName (const std::string &name)
	get fully qualified name More...

Static Private Member Functions
static bool	isActive (const controller_manager_msgs::ControllerState &s)
	Check if given controller is active. More...

Private Attributes
ControllersMap	active_controllers_

AllocatorsMap	allocators_

boost::mutex	controllers_mutex_

ros::Time	controllers_stamp_

HandleMap	handles_

pluginlib::ClassLoader< ControllerHandleAllocator >	loader_

ControllersMap	managed_controllers_

const std::string	ns_

Detailed Description

moveit_controller_manager::MoveItControllerManager sub class that interfaces one ros_control controller_manager instance. All services and names are relative to ns_.

Definition at line 116 of file controller_manager_plugin.cpp.

Member Typedef Documentation

◆ AllocatorsMap

typedef std::map<std::string, ControllerHandleAllocatorPtr> moveit_ros_control_interface::MoveItControllerManager::AllocatorsMap

private

Definition at line 123 of file controller_manager_plugin.cpp.

◆ ControllersMap

typedef std::map<std::string, controller_manager_msgs::ControllerState> moveit_ros_control_interface::MoveItControllerManager::ControllersMap

private

Definition at line 120 of file controller_manager_plugin.cpp.

◆ HandleMap

typedef std::map<std::string, moveit_controller_manager::MoveItControllerHandlePtr> moveit_ros_control_interface::MoveItControllerManager::HandleMap

private

Definition at line 126 of file controller_manager_plugin.cpp.

Constructor & Destructor Documentation

◆ MoveItControllerManager() [1/2]

moveit_ros_control_interface::MoveItControllerManager::MoveItControllerManager ( )

inline

The default constructor. Reads the namespace from ~ros_control_namespace param and defaults to /.

Definition at line 223 of file controller_manager_plugin.cpp.

◆ MoveItControllerManager() [2/2]

moveit_ros_control_interface::MoveItControllerManager::MoveItControllerManager ( const std::string & ns )

inline

Configure interface with namespace.

Parameters

ns	namespace of ros_control node (without /controller_manager/)

Definition at line 234 of file controller_manager_plugin.cpp.

Member Function Documentation

◆ allocate()

void moveit_ros_control_interface::MoveItControllerManager::allocate	(	const std::string &	name,
		const controller_manager_msgs::ControllerState &	controller
	)

inlineprivate

Allocates a MoveItControllerHandle instance for the given controller Might create allocator object first.

Parameters

name	fully qualified name of the controller
controller	controller information

Definition at line 181 of file controller_manager_plugin.cpp.

◆ discover()

void moveit_ros_control_interface::MoveItControllerManager::discover ( bool force = false )

inlineprivate

Call list_controllers and populate managed_controllers_ and active_controllers_. Allocates handles if needed. Throttled down to 1 Hz, controllers_mutex_ must be locked externally.

Parameters

force force rediscover

Definition at line 148 of file controller_manager_plugin.cpp.

◆ getAbsName()

std::string moveit_ros_control_interface::MoveItControllerManager::getAbsName ( const std::string & name )

inlineprivate

get fully qualified name

Parameters

name	name to be resolved to an absolute name

Returns: resolved name

Definition at line 214 of file controller_manager_plugin.cpp.

◆ getActiveControllers()

void moveit_ros_control_interface::MoveItControllerManager::getActiveControllers ( std::vector< std::string > & names )

inlineoverridevirtual

Refresh controller list and output all active, managed controllers.

Parameters

[out] names list of controllers (with namespace)

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 275 of file controller_manager_plugin.cpp.

◆ getControllerHandle()

moveit_controller_manager::MoveItControllerHandlePtr moveit_ros_control_interface::MoveItControllerManager::getControllerHandle ( const std::string & name )

inlineoverridevirtual

Find and return the pre-allocated handle for the given controller.

Parameters

name

Returns

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 244 of file controller_manager_plugin.cpp.

◆ getControllerJoints()

void moveit_ros_control_interface::MoveItControllerManager::getControllerJoints	(	const std::string &	name,
		std::vector< std::string > &	joints
	)

inlineoverridevirtual

Read resources from cached controller states.

Parameters

[in]	name	name of controller (with namespace)
[out]	joints

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 293 of file controller_manager_plugin.cpp.

◆ getControllersList()

void moveit_ros_control_interface::MoveItControllerManager::getControllersList ( std::vector< std::string > & names )

inlineoverridevirtual

Refresh controller list and output all managed controllers.

Parameters

[out] names list of controllers (with namespace)

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 259 of file controller_manager_plugin.cpp.

◆ getControllerState()

ControllerState moveit_ros_control_interface::MoveItControllerManager::getControllerState ( const std::string & name )

inlineoverridevirtual

Refresh controller state and output the state of the given one, only active_ will be set.

Parameters

[in] name name of controller (with namespace)

Returns: state

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 312 of file controller_manager_plugin.cpp.

◆ isActive()

static bool moveit_ros_control_interface::MoveItControllerManager::isActive ( const controller_manager_msgs::ControllerState & s )

inlinestaticprivate

Check if given controller is active.

Parameters

s	state of controller

Returns: true if controller is active

Definition at line 137 of file controller_manager_plugin.cpp.

◆ switchControllers()

bool moveit_ros_control_interface::MoveItControllerManager::switchControllers	(	const std::vector< std::string > &	activate,
		const std::vector< std::string > &	deactivate
	)

inlineoverridevirtual

Filter lists for managed controller and computes switching set. Stopped list might be extended by unsupported controllers that claim needed resources.

Parameters