Class ControllerInterface

• Defined in File controller_interface.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterfaceBase (Class ControllerInterfaceBase)

Class Documentation

class ControllerInterface : public controller_interface::ControllerInterfaceBase

Public Functions

CONTROLLER_INTERFACE_PUBLIC ControllerInterface()

virtual CONTROLLER_INTERFACE_PUBLIC ~ControllerInterface() = default

virtual CONTROLLER_INTERFACE_PUBLIC bool is_chainable () const final

Controller is not chainable.

Returns:

false.

virtual CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::StateInterface::ConstSharedPtr > export_state_interfaces () final

A non-chainable controller doesn’t export any state interfaces.

Returns:

empty list.

virtual CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface::SharedPtr > export_reference_interfaces () final

Controller has no reference interfaces.

Returns:

empty list.

virtual CONTROLLER_INTERFACE_PUBLIC bool set_chained_mode (bool chained_mode) final

Controller is not chainable, therefore no chained mode can be set.

Returns:

false.

virtual CONTROLLER_INTERFACE_PUBLIC bool is_in_chained_mode () const final

Controller can not be in chained mode.

Returns:

false.