Class ControlModeTypes

Class Documentation

class ControlModeTypes

Class used to separate the control modes into realtime and non realtime.

Public Static Functions

static inline bool is_control_mode_realtime(ControlMode control_mode)

Check if the control mode is realtime.

Parameters:

control_mode – Current control mode

Returns:

true if the control mode is realtime, false otherwise

static inline bool is_control_mode_non_realtime(ControlMode control_mode)

Check if the control mode is non realtime.

Parameters:

control_mode – Current control mode

Returns:

true if the control mode is non realtime, false otherwise

Public Static Attributes

static const std::vector<ControlMode> REALTIME_CONTROL_MODES = {ControlMode::MODE_SERVOJ, ControlMode::MODE_SPEEDJ, ControlMode::MODE_SPEEDL, ControlMode::MODE_POSE}
static const std::vector<ControlMode> NON_REALTIME_CONTROL_MODES = {ControlMode::MODE_IDLE, ControlMode::MODE_FORWARD, ControlMode::MODE_FREEDRIVE}
static const std::vector<ControlMode> STATIONARY_CONTROL_MODES = {ControlMode::MODE_STOPPED, ControlMode::MODE_UNINITIALIZED, ControlMode::MODE_TOOL_IN_CONTACT}