Class ControlModeTypes
Defined in File control_mode.h
Class Documentation
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class ControlModeTypes
Class used to separate the control modes into realtime and non realtime.
Public Static Functions
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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
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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
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static const std::vector<ControlMode> REALTIME_CONTROL_MODES = {ControlMode::MODE_SERVOJ, ControlMode::MODE_SPEEDJ, ControlMode::MODE_SPEEDL, ControlMode::MODE_POSE}
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static const std::vector<ControlMode> NON_REALTIME_CONTROL_MODES = {ControlMode::MODE_IDLE, ControlMode::MODE_FORWARD, ControlMode::MODE_FREEDRIVE}
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static const std::vector<ControlMode> STATIONARY_CONTROL_MODES = {ControlMode::MODE_STOPPED, ControlMode::MODE_UNINITIALIZED, ControlMode::MODE_TOOL_IN_CONTACT}
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static inline bool is_control_mode_realtime(ControlMode control_mode)