Class ControllerLoader
Defined in File controller_loader.h
Class Documentation
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class ControllerLoader
Class for loading and managing a single controller.
Public Functions
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ControllerLoader()
Initialize this loader.
Load the controller.
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bool start()
This calls through to controller, saves state locally.
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bool stop(bool force)
This calls through to controller, saves state locally.
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bool reset()
This calls through to controller.
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void update(const rclcpp::Time &time, const rclcpp::Duration &dt)
If controller is active, calls through to controller.
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bool isActive()
Returns true if the controller is active.
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ControllerPtr getController()
Returns the controller held by this loader.
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ControllerLoader()