#include <controller.h>
Public Types | |
| enum | { BEFORE_ME, AFTER_ME } |
| enum | { CONSTRUCTED, INITIALIZED, RUNNING } |
Public Member Functions | |
| Controller () | |
| template<class ControllerType > | |
| bool | getController (const std::string &name, int sched, ControllerType *&c) |
| Method to get access to another controller by name and type. | |
| virtual bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)=0 |
| The init function is called to initialize the controller from a non-realtime thread. | |
| bool | initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
| bool | isRunning () |
| Check if the controller is running. | |
| void | starting (const ros::Time &time) |
| virtual void | starting () |
| The starting method is called just before the first update from within the realtime thread. | |
| bool | startRequest () |
| void | stopping (const ros::Time &time) |
| virtual void | stopping () |
| The stopping method is called by the realtime thread just after the last update call. | |
| bool | stopRequest () |
| void | update (const ros::Time &time, const ros::Duration &period) |
| virtual void | update (void)=0 |
| The update method is called periodically by the realtime thread when the controller is running. | |
| void | updateRequest () |
| virtual | ~Controller () |
Public Attributes | |
| std::vector< std::string > | after_list_ |
| std::vector< std::string > | before_list_ |
| enum pr2_controller_interface::Controller:: { ... } | state_ |
Private Member Functions | |
| Controller (const Controller &c) | |
| Controller & | operator= (const Controller &c) |
Private Attributes | |
| ControllerProvider * | contr_prov_ |
Detailed Description
Definition at line 53 of file controller.h.
Member Enumeration Documentation
| anonymous enum |
Definition at line 56 of file controller.h.
| anonymous enum |
Definition at line 166 of file controller.h.
Constructor & Destructor Documentation
| pr2_controller_interface::Controller::Controller | ( | ) | [inline] |
Reimplemented from controller_interface::Controller< pr2_mechanism_model::RobotState >.
Definition at line 58 of file controller.h.
| virtual pr2_controller_interface::Controller::~Controller | ( | ) | [inline, virtual] |
Reimplemented from controller_interface::Controller< pr2_mechanism_model::RobotState >.
Definition at line 59 of file controller.h.
| pr2_controller_interface::Controller::Controller | ( | const Controller & | c | ) | [private] |
Member Function Documentation
| bool pr2_controller_interface::Controller::getController | ( | const std::string & | name, |
| int | sched, | ||
| ControllerType *& | c | ||
| ) | [inline] |
Method to get access to another controller by name and type.
Definition at line 90 of file controller.h.
| virtual bool pr2_controller_interface::Controller::init | ( | pr2_mechanism_model::RobotState * | robot, |
| ros::NodeHandle & | n | ||
| ) | [pure virtual] |
The init function is called to initialize the controller from a non-realtime thread.
- Parameters:
-
robot A RobotState object which can be used to read joint states and write out effort commands. n A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface.
- Returns:
- True if initialization was successful and the controller is ready to be started.
Reimplemented from controller_interface::Controller< pr2_mechanism_model::RobotState >.
| bool pr2_controller_interface::Controller::initRequest | ( | ControllerProvider * | cp, |
| pr2_mechanism_model::RobotState * | robot, | ||
| ros::NodeHandle & | n | ||
| ) | [inline] |
Definition at line 146 of file controller.h.
| bool pr2_controller_interface::Controller::isRunning | ( | ) | [inline] |
Check if the controller is running.
Reimplemented from controller_interface::ControllerBase.
Definition at line 110 of file controller.h.
| Controller& pr2_controller_interface::Controller::operator= | ( | const Controller & | c | ) | [private] |
| void pr2_controller_interface::Controller::starting | ( | const ros::Time & | time | ) | [inline, virtual] |
Reimplemented from controller_interface::ControllerBase.
Definition at line 61 of file controller.h.
| virtual void pr2_controller_interface::Controller::starting | ( | ) | [inline, virtual] |
The starting method is called just before the first update from within the realtime thread.
Definition at line 66 of file controller.h.
| bool pr2_controller_interface::Controller::startRequest | ( | ) | [inline] |
Definition at line 121 of file controller.h.
| void pr2_controller_interface::Controller::stopping | ( | const ros::Time & | time | ) | [inline, virtual] |
Reimplemented from controller_interface::ControllerBase.
Definition at line 63 of file controller.h.
| virtual void pr2_controller_interface::Controller::stopping | ( | ) | [inline, virtual] |
The stopping method is called by the realtime thread just after the last update call.
Definition at line 72 of file controller.h.
| bool pr2_controller_interface::Controller::stopRequest | ( | ) | [inline] |
Definition at line 134 of file controller.h.
| void pr2_controller_interface::Controller::update | ( | const ros::Time & | time, |
| const ros::Duration & | period | ||
| ) | [inline, virtual] |
Implements controller_interface::ControllerBase.
Definition at line 62 of file controller.h.
| virtual void pr2_controller_interface::Controller::update | ( | void | ) | [pure virtual] |
The update method is called periodically by the realtime thread when the controller is running.
| void pr2_controller_interface::Controller::updateRequest | ( | ) | [inline] |
Definition at line 115 of file controller.h.
Member Data Documentation
| std::vector<std::string> pr2_controller_interface::Controller::after_list_ |
Definition at line 164 of file controller.h.
| std::vector<std::string> pr2_controller_interface::Controller::before_list_ |
Definition at line 164 of file controller.h.
Definition at line 171 of file controller.h.
| enum { ... } pr2_controller_interface::Controller::state_ |
Reimplemented from controller_interface::ControllerBase.
The documentation for this class was generated from the following file: