#include <controller.h>

Inheritance diagram for pr2_controller_interface::Controller:

Public Types
enum	{ BEFORE_ME, AFTER_ME }

enum	{ CONSTRUCTED, INITIALIZED, RUNNING }

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 Member Functions
	Controller ()

template<class ControllerType >
bool	getController (const std::string &name, int sched, ControllerType *&c)
	Method to get access to another controller by name and type. More...

virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)=0
	The init function is called to initialize the controller from a non-realtime thread. More...

bool	initRequest (ControllerProvider cp, pr2_mechanism_model::RobotState robot, ros::NodeHandle &n)

bool	isRunning ()
	Check if the controller is running. More...

virtual void	starting ()
	The starting method is called just before the first update from within the realtime thread. More...

void	starting (const ros::Time &time)

bool	startRequest ()

virtual void	stopping ()
	The stopping method is called by the realtime thread just after the last update call. More...

void	stopping (const ros::Time &time)

bool	stopRequest ()

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

virtual void	update (void)=0
	The update method is called periodically by the realtime thread when the controller is running. More...

void	updateRequest ()

virtual	~Controller ()

Public Member Functions inherited from controller_interface::Controller< pr2_mechanism_model::RobotState >
virtual bool	init (T *, ros::NodeHandle &)

virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)

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

Public Attributes
std::vector< std::string >	after_list_

std::vector< std::string >	before_list_

enum pr2_controller_interface::Controller:: { ... }	state_

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Private Member Functions
	Controller (const Controller &c)

Controller &	operator= (const Controller &c)

Private Attributes
ControllerProvider *	contr_prov_

Additional Inherited Members
Protected Member Functions inherited from controller_interface::Controller< pr2_mechanism_model::RobotState >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Detailed Description

Definition at line 53 of file controller.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
BEFORE_ME
AFTER_ME

Definition at line 56 of file controller.h.

◆ anonymous enum

anonymous enum

Enumerator
CONSTRUCTED
INITIALIZED
RUNNING

Definition at line 166 of file controller.h.

Constructor & Destructor Documentation

◆ Controller() [1/2]

pr2_controller_interface::Controller::Controller ( )

inline

Definition at line 58 of file controller.h.

◆ ~Controller()

virtual pr2_controller_interface::Controller::~Controller ( )

inlinevirtual

Definition at line 59 of file controller.h.

◆ Controller() [2/2]

pr2_controller_interface::Controller::Controller ( const Controller & c )

private

Member Function Documentation

◆ getController()

template<class ControllerType >

bool pr2_controller_interface::Controller::getController	(	const std::string &	name,
		int	sched,
		ControllerType *&	c
	)

inline

Method to get access to another controller by name and type.

Definition at line 90 of file controller.h.

◆ init()

virtual bool pr2_controller_interface::Controller::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

pure virtual

The init function is called to initialize the controller from a non-realtime thread.

Parameters

robot	A RobotState object which can be used to read joint states and write out effort commands.
n	A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface.

Returns: True if initialization was successful and the controller is ready to be started.

◆ initRequest()

bool pr2_controller_interface::Controller::initRequest	(	ControllerProvider *	cp,
		pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

inline

Definition at line 146 of file controller.h.

◆ isRunning()

bool pr2_controller_interface::Controller::isRunning ( )

inline

Check if the controller is running.

Definition at line 110 of file controller.h.

◆ operator=()

Controller& pr2_controller_interface::Controller::operator= ( const Controller & c )

private

◆ starting() [1/2]

virtual void pr2_controller_interface::Controller::starting ( )

inlinevirtual

The starting method is called just before the first update from within the realtime thread.

Definition at line 66 of file controller.h.

◆ starting() [2/2]

void pr2_controller_interface::Controller::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 61 of file controller.h.

◆ startRequest()

bool pr2_controller_interface::Controller::startRequest ( )

inline

Definition at line 121 of file controller.h.

◆ stopping() [1/2]

virtual void pr2_controller_interface::Controller::stopping ( )

inlinevirtual

The stopping method is called by the realtime thread just after the last update call.

Definition at line 72 of file controller.h.

◆ stopping() [2/2]

void pr2_controller_interface::Controller::stopping ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 63 of file controller.h.

◆ stopRequest()

bool pr2_controller_interface::Controller::stopRequest ( )

inline

Definition at line 134 of file controller.h.

◆ update() [1/2]

void pr2_controller_interface::Controller::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 62 of file controller.h.

◆ update() [2/2]

virtual void pr2_controller_interface::Controller::update ( void )

pure virtual

The update method is called periodically by the realtime thread when the controller is running.

◆ updateRequest()

void pr2_controller_interface::Controller::updateRequest ( )

inline

Definition at line 115 of file controller.h.

Member Data Documentation

◆ after_list_

std::vector<std::string> pr2_controller_interface::Controller::after_list_

Definition at line 164 of file controller.h.

◆ before_list_

std::vector<std::string> pr2_controller_interface::Controller::before_list_

Definition at line 164 of file controller.h.

◆ contr_prov_

ControllerProvider* pr2_controller_interface::Controller::contr_prov_

private

Definition at line 171 of file controller.h.

◆ state_

enum { ... } pr2_controller_interface::Controller::state_

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

controller.h

Public Types

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

◆ anonymous enum

Constructor & Destructor Documentation

◆ Controller() [1/2]

◆ ~Controller()

◆ Controller() [2/2]

Member Function Documentation

◆ getController()

◆ init()

◆ initRequest()

◆ isRunning()

◆ operator=()

◆ starting() [1/2]

◆ starting() [2/2]

◆ startRequest()

◆ stopping() [1/2]

◆ stopping() [2/2]

◆ stopRequest()

◆ update() [1/2]

◆ update() [2/2]

◆ updateRequest()

Member Data Documentation

◆ after_list_

◆ before_list_

◆ contr_prov_

◆ state_