moveit_ros_control_interface::MoveItMultiControllerManager Class Reference

MoveItMultiControllerManager discovers all running ros_control node and delegates member function to the corresponding MoveItControllerManager instances. More...

Inheritance diagram for moveit_ros_control_interface::MoveItMultiControllerManager:

Public Member Functions
void	getActiveControllers (std::vector< std::string > &names) override
	Read all active, managed controllers from discovered interfaces. More...
moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name) override
	Find appropriate interface and delegate handle creation. More...
void	getControllerJoints (const std::string &name, std::vector< std::string > &joints) override
	Find appropriate interface and delegate joints query. More...
void	getControllersList (std::vector< std::string > &names) override
	Read all managed controllers from discovered interfaces. More...
ControllerState	getControllerState (const std::string &name) override
	Find appropriate interface and delegate state query. More...
bool	switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate) override
	delegates switch to all known interfaces. Stops on first failing switch. More...
Public Member Functions inherited from moveit_controller_manager::MoveItControllerManager
	MoveItControllerManager ()
virtual	~MoveItControllerManager ()

Private Types
typedef std::map< std::string, moveit_ros_control_interface::MoveItControllerManagerPtr >	ControllerManagersMap

Private Member Functions
void	discover ()
	Poll ROS master for services and filters all controller_manager/list_controllers instances Throttled down to 1 Hz, controller_managers_mutex_ must be locked externally. More...

Static Private Member Functions
static std::string	getNamespace (const std::string &name)
	Get namespace (including leading and trailing slashes) from controller name. More...

Private Attributes
ControllerManagersMap	controller_managers_
boost::mutex	controller_managers_mutex_
ros::Time	controller_managers_stamp_

Detailed Description

MoveItMultiControllerManager discovers all running ros_control node and delegates member function to the corresponding MoveItControllerManager instances.

Definition at line 406 of file controller_manager_plugin.cpp.

Member Typedef Documentation

ControllerManagersMap

typedef std::map<std::string, moveit_ros_control_interface::MoveItControllerManagerPtr> moveit_ros_control_interface::MoveItMultiControllerManager::ControllerManagersMap

private

Definition at line 408 of file controller_manager_plugin.cpp.

Member Function Documentation

discover()

void moveit_ros_control_interface::MoveItMultiControllerManager::discover ( )

inlineprivate

Poll ROS master for services and filters all controller_manager/list_controllers instances Throttled down to 1 Hz, controller_managers_mutex_ must be locked externally.

Definition at line 417 of file controller_manager_plugin.cpp.

getActiveControllers()

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

inlineoverridevirtual

Read all active, managed controllers from discovered interfaces.

Parameters

names

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 502 of file controller_manager_plugin.cpp.

getControllerHandle()

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

inlineoverridevirtual

Find appropriate interface and delegate handle creation.

Parameters

name

Returns

handle

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 469 of file controller_manager_plugin.cpp.

getControllerJoints()

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

inlineoverridevirtual

Find appropriate interface and delegate joints query.

Parameters

name
joints

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 519 of file controller_manager_plugin.cpp.

getControllersList()

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

inlineoverridevirtual

Read all managed controllers from discovered interfaces.

Parameters

names

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 486 of file controller_manager_plugin.cpp.

getControllerState()

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

inlineoverridevirtual

Find appropriate interface and delegate state query.

Parameters

name

Returns

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 536 of file controller_manager_plugin.cpp.

getNamespace()

static std::string moveit_ros_control_interface::MoveItMultiControllerManager::getNamespace ( const std::string &  name )

inlinestaticprivate

Get namespace (including leading and trailing slashes) from controller name.

Parameters

name

Returns

extracted namespace or / if none is found

Definition at line 455 of file controller_manager_plugin.cpp.

switchControllers()

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

inlineoverridevirtual

delegates switch to all known interfaces. Stops on first failing switch.

Parameters

activate
deactivate

Returns

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 555 of file controller_manager_plugin.cpp.

Member Data Documentation

controller_managers_

ControllerManagersMap moveit_ros_control_interface::MoveItMultiControllerManager::controller_managers_

private

Definition at line 409 of file controller_manager_plugin.cpp.

controller_managers_mutex_

boost::mutex moveit_ros_control_interface::MoveItMultiControllerManager::controller_managers_mutex_

private

Definition at line 411 of file controller_manager_plugin.cpp.

controller_managers_stamp_

ros::Time moveit_ros_control_interface::MoveItMultiControllerManager::controller_managers_stamp_

private

Definition at line 410 of file controller_manager_plugin.cpp.

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

• controller_manager_plugin.cpp