#include <orientation_controller.h>

Inheritance diagram for rm_orientation_controller::Controller:

Public Member Functions
	Controller ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override

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

Public Member Functions inherited from controller_interface::MultiInterfaceController< rm_control::RmImuSensorInterface, rm_control::RobotStateInterface >
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

virtual void	starting (const ros::Time &)

virtual void	starting (const ros::Time &)

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::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 Member Functions
bool	getTransform (const ros::Time &time, geometry_msgs::TransformStamped &source2target, const double x, const double y, const double z, const double w)

void	imuDataCallback (const sensor_msgs::Imu::ConstPtr &msg)

Private Attributes
std::string	frame_source_

std::string	frame_target_

ros::Subscriber	imu_data_sub_

rm_control::RmImuSensorHandle	imu_sensor_

ros::Time	last_imu_update_time_

bool	receive_imu_msg_ = false

rm_control::RobotStateHandle	robot_state_

geometry_msgs::TransformStamped	source2target_msg_

rm_common::TfRtBroadcaster	tf_broadcaster_ {}

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< rm_control::RmImuSensorInterface, rm_control::RobotStateInterface >
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< rm_control::RmImuSensorInterface, rm_control::RobotStateInterface >
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< rm_control::RmImuSensorInterface, rm_control::RobotStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 16 of file orientation_controller.h.

Constructor & Destructor Documentation

◆ Controller()

rm_orientation_controller::Controller::Controller ( )

default

Member Function Documentation

◆ getTransform()

bool Controller::getTransform	(	const ros::Time &	time,
		geometry_msgs::TransformStamped &	source2target,
		const double	x,
		const double	y,
		const double	z,
		const double	w
	)

private

Definition at line 53 of file orientation_controller.cpp.

◆ imuDataCallback()

void Controller::imuDataCallback ( const sensor_msgs::Imu::ConstPtr & msg )

private

Definition at line 82 of file orientation_controller.cpp.

◆ init()

bool Controller::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< rm_control::RmImuSensorInterface, rm_control::RobotStateInterface >.

Definition at line 12 of file orientation_controller.cpp.

◆ update()

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 32 of file orientation_controller.cpp.

Member Data Documentation

◆ frame_source_

std::string rm_orientation_controller::Controller::frame_source_

private

Definition at line 37 of file orientation_controller.h.

◆ frame_target_

std::string rm_orientation_controller::Controller::frame_target_

private

Definition at line 38 of file orientation_controller.h.

◆ imu_data_sub_

ros::Subscriber rm_orientation_controller::Controller::imu_data_sub_

private

Definition at line 40 of file orientation_controller.h.

◆ imu_sensor_

rm_control::RmImuSensorHandle rm_orientation_controller::Controller::imu_sensor_

private

Definition at line 29 of file orientation_controller.h.

◆ last_imu_update_time_

ros::Time rm_orientation_controller::Controller::last_imu_update_time_

private

Definition at line 32 of file orientation_controller.h.

◆ receive_imu_msg_

bool rm_orientation_controller::Controller::receive_imu_msg_ = false

private

Definition at line 41 of file orientation_controller.h.

◆ robot_state_

rm_control::RobotStateHandle rm_orientation_controller::Controller::robot_state_

private

Definition at line 30 of file orientation_controller.h.

◆ source2target_msg_

geometry_msgs::TransformStamped rm_orientation_controller::Controller::source2target_msg_

private

Definition at line 35 of file orientation_controller.h.

◆ tf_broadcaster_

rm_common::TfRtBroadcaster rm_orientation_controller::Controller::tf_broadcaster_ {}

private

Definition at line 34 of file orientation_controller.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Controller()

Member Function Documentation

◆ getTransform()

◆ imuDataCallback()

◆ init()

◆ update()

Member Data Documentation

◆ frame_source_

◆ frame_target_

◆ imu_data_sub_

◆ imu_sensor_

◆ last_imu_update_time_

◆ receive_imu_msg_

◆ robot_state_

◆ source2target_msg_

◆ tf_broadcaster_