hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher Class Reference

Offers controller switching inside python on the fly. More...

List of all members.

Public Member Functions
def	__init__
def	carefree_switch
	Switches controller without having to specify the arm controller to take down.
def	list_loaded
	Lists the controllers which are currently loaded.
def	list_running
	Lists the controllers which are currently running.
def	list_stopped
	Lists the controllers which are currently stopped.
def	switch
	Switches controller.
Public Attributes
	list_controllers_srv
	load_controller
	switch_controller_srv
	unload_controller

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Detailed Description

Offers controller switching inside python on the fly.

Definition at line 16 of file pr2_controller_switcher.py.

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Constructor & Destructor Documentation

def hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher.__init__

(

self

)

Definition at line 17 of file pr2_controller_switcher.py.

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Member Function Documentation

def hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher.carefree_switch	(		self,
			arm,
			new_controller,
			param_file = None,
			reset = True
	)

Switches controller without having to specify the arm controller to take down.

Parameters:

arm	(r/l)
new_controller	Name of new controller to load
param_file	YAML file containing parameters for the new controller.
reset	If true, the controller will bring down, unload and restart the controller using new parameters if currently running. If false, nothing will happen.

Returns:

Success of switch.

Definition at line 72 of file pr2_controller_switcher.py.

def hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher.list_loaded

(

self

)

Lists the controllers which are currently loaded.

Returns:

List of controller names.

Definition at line 138 of file pr2_controller_switcher.py.

def hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher.list_running

(

self

)

Lists the controllers which are currently running.

Returns:

List of controller names.

Definition at line 116 of file pr2_controller_switcher.py.

def hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher.list_stopped

(

self

)

Lists the controllers which are currently stopped.

Returns:

List of controller names.

Definition at line 127 of file pr2_controller_switcher.py.

def hrl_pr2_arms.pr2_controller_switcher.ControllerSwitcher.switch	(		self,
			old_controller,
			new_controller,
			param_file = None
	)

Switches controller.

Parameters:

old_controller	Name of controller to terminate.
new_controller	Name of controller to activate. Can be same as old_controller if the object is to only change parameters.
param_file	YAML file containing parameters for the new controller.

Returns:

Success of switch.

Definition at line 45 of file pr2_controller_switcher.py.

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Member Data Documentation

hrl_pr2_arms::pr2_controller_switcher.ControllerSwitcher::list_controllers_srv

Definition at line 17 of file pr2_controller_switcher.py.

hrl_pr2_arms::pr2_controller_switcher.ControllerSwitcher::load_controller

Definition at line 17 of file pr2_controller_switcher.py.

hrl_pr2_arms::pr2_controller_switcher.ControllerSwitcher::switch_controller_srv

Definition at line 17 of file pr2_controller_switcher.py.

hrl_pr2_arms::pr2_controller_switcher.ControllerSwitcher::unload_controller

Definition at line 17 of file pr2_controller_switcher.py.

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

• pr2_controller_switcher.py