Classes | Public Member Functions
moveit_controller_manager::MoveItControllerManager Class Reference

MoveIt! does not enforce how controllers are implemented. To make your controllers usable by MoveIt, this interface needs to be implemented. The main purpose of this interface is to expose the set of known controllers and potentially to allow activating and deactivating them, if multiple controllers are available. More...

#include <controller_manager.h>

List of all members.

Classes

struct  ControllerState
 Each controller known to MoveIt has a state. This structure describes that controller's state. More...

Public Member Functions

virtual void getActiveControllers (std::vector< std::string > &names)=0
 Get the list of active controllers. If there is only one controller in the system, this will be active. In cases where multiple controllers exist, and they operate on overlaping sets of joints, not all controllers should be active at the same time.
virtual MoveItControllerHandlePtr getControllerHandle (const std::string &name)=0
 Controllers are managed by name. Given a name, return an object that can perform operations on the corresponding controller.
virtual void getControllerJoints (const std::string &name, std::vector< std::string > &joints)=0
 In order to decide which controller to use, it is necessary to reason about the joints a controller operates on. This function reports the joints a controller operates on, given the controller name.
virtual void getControllersList (std::vector< std::string > &names)=0
 Get the list of known controller names.
virtual ControllerState getControllerState (const std::string &name)=0
 Report the state of a controller, given its name.
 MoveItControllerManager ()
 Default constructor. This needs to have no arguments so that the plugin system can construct the object.
virtual bool switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate)=0
 Activate and deactivate controllers.
virtual ~MoveItControllerManager ()

Detailed Description

MoveIt! does not enforce how controllers are implemented. To make your controllers usable by MoveIt, this interface needs to be implemented. The main purpose of this interface is to expose the set of known controllers and potentially to allow activating and deactivating them, if multiple controllers are available.

Definition at line 154 of file controller_manager.h.


Constructor & Destructor Documentation

Default constructor. This needs to have no arguments so that the plugin system can construct the object.

Definition at line 176 of file controller_manager.h.

Definition at line 180 of file controller_manager.h.


Member Function Documentation

virtual void moveit_controller_manager::MoveItControllerManager::getActiveControllers ( std::vector< std::string > &  names) [pure virtual]

Get the list of active controllers. If there is only one controller in the system, this will be active. In cases where multiple controllers exist, and they operate on overlaping sets of joints, not all controllers should be active at the same time.

virtual MoveItControllerHandlePtr moveit_controller_manager::MoveItControllerManager::getControllerHandle ( const std::string &  name) [pure virtual]

Controllers are managed by name. Given a name, return an object that can perform operations on the corresponding controller.

virtual void moveit_controller_manager::MoveItControllerManager::getControllerJoints ( const std::string &  name,
std::vector< std::string > &  joints 
) [pure virtual]

In order to decide which controller to use, it is necessary to reason about the joints a controller operates on. This function reports the joints a controller operates on, given the controller name.

virtual void moveit_controller_manager::MoveItControllerManager::getControllersList ( std::vector< std::string > &  names) [pure virtual]

Get the list of known controller names.

Report the state of a controller, given its name.

virtual bool moveit_controller_manager::MoveItControllerManager::switchControllers ( const std::vector< std::string > &  activate,
const std::vector< std::string > &  deactivate 
) [pure virtual]

Activate and deactivate controllers.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:46