Public Member Functions | Protected Member Functions | Static Protected Member Functions | Protected Attributes | Private Member Functions
controller_interface::MultiInterfaceController< T1, T2, T3, T4 > Class Template Reference

Controller able to claim resources from multiple hardware interfaces. More...

#include <multi_interface_controller.h>

Inheritance diagram for controller_interface::MultiInterfaceController< T1, T2, T3, T4 >:
Inheritance graph
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List of all members.

Public Member Functions

 MultiInterfaceController (bool allow_optional_interfaces=false)
virtual ~MultiInterfaceController ()

Protected Member Functions

virtual std::string getHardwareInterfaceType () const

Static Protected Member Functions

static void clearClaims (hardware_interface::RobotHW *robot_hw)
 Clear claims from all hardware interfaces requested by this controller.
static void extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
 Extract all hardware interfaces requested by this controller from robot_hw_in, and add them also to robot_hw_out.
static bool hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
 Check if robot hardware abstraction contains all required interfaces.
static void populateClaimedResources (hardware_interface::RobotHW *robot_hw, std::set< std::string > &claimed_resources)
 Extract all hardware interfaces requested by this controller from robot_hw_in, and add them also to robot_hw_out.

Protected Attributes

bool allow_optional_interfaces_
hardware_interface::RobotHW robot_hw_ctrl_

Private Member Functions

 MultiInterfaceController (const MultiInterfaceController &c)
MultiInterfaceController & operator= (const MultiInterfaceController &c)

Non Real-Time Safe Functions

virtual bool init (hardware_interface::RobotHW *, ros::NodeHandle &)
 Custom controller initialization logic.
virtual bool init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)
 Custom controller initialization logic.
virtual bool initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, std::set< std::string > &claimed_resources)
 Initialize the controller from a RobotHW pointer.

Detailed Description

template<class T1, class T2 = void, class T3 = void, class T4 = void>
class controller_interface::MultiInterfaceController< T1, T2, T3, T4 >

Controller able to claim resources from multiple hardware interfaces.

This particular controller implementation allows to claim resources from one up to four different hardware interfaces. The types of these hardware interfaces are specified as template parameters.

An example multi-interface controller could claim, for instance, resources from a position-controlled arm and velocity-controlled wheels. Another example would be a controller claiming both position and effort interfaces for the same robot resources, but this would require a robot with a custom (non-exclusive) resource handling policy.

By default, all specified hardware interfaces are required, and their existence will be enforced by initRequest. It is possible to make hardware interfaces optional by means of the allow_optional_interfaces constructor parameter. This allows to write controllers where some interfaces are mandatory, and others, if present, improve controller performance, but whose absence does not prevent the controller from running.

The following is an example of a controller claiming resources from velocity- and effort-controlled joints.

 #include <controller_interface/multi_interface_controller.h>
 #include <hardware_interface/joint_command_interface.h>

 using namespace hardawre_interface;
 class VelEffController : public
       controller_interface::MultiInterfaceController<VelocityJointInterface,
                                                      EffortJointInterface>
 {
 public:
   VelEffController() {}

   bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle &n)
   {
     // robot_hw pointer only contains the two interfaces requested by the
     // controller. It is a subset of the entire robot, which may have more
     // hardware interfaces

     // v and e below are guarranteed to be valid
     VelocityJointInterface* v = robot_hw->get<VelocityJointInterface>;
     EffortJointInterface*   e = robot_hw->get<EffortJointInterface>;

     // Fetch resources from interfaces, perform rest of initialization
     //...

     return true;
   }
   void starting(const ros::Time& time);
   void update(const ros::Time& time, const ros::Duration& period);
   void stopping(const ros::Time& time);
 };

The following fragment is a modified version of the above example, where controller interfaces are not required. It is left to the controller implementer to verify interface validity. Only the initialization code is shown.

 class VelEffController : public
       controller_interface::MultiInterfaceController<VelocityJointInterface,
                                                      EffortJointInterface>
 {
 public:
   // Note true flag passed to parent class, allowing requested hardware
   // interfaces to be optional
   VelEffController()
    : controller_interface::MultiInterfaceController<VelocityJointInterface,
                                                     EffortJointInterface> (true)
   {}

   bool init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle &n)
   {
     // robot_hw pointer contains at most the two interfaces requested by the
     // controller. It may have none, only one or both, depending on whether the
     // robot exposes them

     // v is a required interface
     VelocityJointInterface* v = robot_hw->get<VelocityJointInterface>;
     if (!v)
     {
       return false;
     }

     // e is an optional interface. If present, additional features are enabled.
     // Controller can still function if interface or some of its resources are
     // absent
     EffortJointInterface* e = robot_hw->get<EffortJointInterface>;

     // Fetch resources from interfaces, perform rest of initialization
     //...

     return true;
   }
   ...
 };
Template Parameters:
T1Hardware interface type. This parameter is required.
T2Hardware interface type. This parameter is optional. Leave unspecified if controller only claims resources from a single hardware interface.
T3Hardware interface type. This parameter is optional. Leave unspecified if controller only claims resources from two hardware interfaces.
T4Hardware interface type. This parameter is optional. Leave unspecified if controller only claims resources from three hardware interfaces.
Precondition:
When specified, template parameters T1 to T4 must be different types.

Definition at line 198 of file multi_interface_controller.h.

Constructor & Destructor Documentation

template<class T1, class T2 = void, class T3 = void, class T4 = void>
controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::MultiInterfaceController ( bool  allow_optional_interfaces = false) [inline]
Parameters:
allow_optional_interfacesIf set to true, initRequest will not fail if one or more of the requested interfaces is not present. If set to false (the default), all requested interfaces are required.

Definition at line 206 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
virtual controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::~MultiInterfaceController ( ) [inline, virtual]

Definition at line 210 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::MultiInterfaceController ( const MultiInterfaceController< T1, T2, T3, T4 > &  c) [private]

Member Function Documentation

template<class T1, class T2 = void, class T3 = void, class T4 = void>
static void controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::clearClaims ( hardware_interface::RobotHW *  robot_hw) [inline, static, protected]

Clear claims from all hardware interfaces requested by this controller.

Parameters:
robot_hwRobot hardware abstraction containing the interfaces whose claims will be cleared.

Definition at line 363 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
static void controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::extractInterfaceResources ( hardware_interface::RobotHW *  robot_hw_in,
hardware_interface::RobotHW *  robot_hw_out 
) [inline, static, protected]

Extract all hardware interfaces requested by this controller from robot_hw_in, and add them also to robot_hw_out.

Parameters:
[in]robot_hw_inRobot hardware abstraction containing the interfaces requested by this controller, and potentially others.
[out]robot_hw_outRobot hardware abstraction containing only the interfaces requested by this controller.

Definition at line 380 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
virtual std::string controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::getHardwareInterfaceType ( ) const [inline, protected, virtual]

Implements controller_interface::ControllerBase.

Definition at line 338 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
static bool controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::hasRequiredInterfaces ( hardware_interface::RobotHW *  robot_hw) [inline, static, protected]

Check if robot hardware abstraction contains all required interfaces.

Parameters:
robot_hwRobot hardware abstraction.
Returns:
true if all required hardware interfaces are exposed by robot_hw, false otherwise.

Definition at line 349 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
virtual bool controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::init ( hardware_interface::RobotHW *  ,
ros::NodeHandle &   
) [inline, virtual]

Custom controller initialization logic.

In this method resources from different interfaces are claimed, and other non real-time initialization is performed, such as setup of ROS interfaces and resource pre-allocation.

Parameters:
robot_hwRobot hardware abstraction containing a subset of the entire robot. If MultiInterfaceController was called with allow_optional_interfaces set to false (the default), this parameter contains all the interfaces requested by the controller. If allow_optional_interfaces was set to false, this parameter may contain none, some or all interfaces requested by the controller, depending on whether the robot exposes them. Please refer to the code examples in the class description.
controller_nhA 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.

Definition at line 239 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
virtual bool controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::init ( hardware_interface::RobotHW *  ,
ros::NodeHandle &  ,
ros::NodeHandle &   
) [inline, virtual]

Custom controller initialization logic.

In this method resources from different interfaces are claimed, and other non real-time initialization is performed, such as setup of ROS interfaces and resource pre-allocation.

Parameters:
robot_hwRobot hardware abstraction containing a subset of the entire robot. If MultiInterfaceController was called with allow_optional_interfaces set to false (the default), this parameter contains all the interfaces requested by the controller. If allow_optional_interfaces was set to false, this parameter may contain none, some or all interfaces requested by the controller, depending on whether the robot exposes them. Please refer to the code examples in the class description.
root_nhA NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
controller_nhA NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.
Returns:
True if initialization was successful and the controller is ready to be started.

Reimplemented in steer_drive_controller::SteerDriveController.

Definition at line 269 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
virtual bool controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::initRequest ( hardware_interface::RobotHW *  robot_hw,
ros::NodeHandle &  root_nh,
ros::NodeHandle &  controller_nh,
std::set< std::string > &  claimed_resources 
) [inline, protected, virtual]

Initialize the controller from a RobotHW pointer.

This calls init with a RobotHW that is a subset of the input robot_hw parameter, containing only the requested hardware interfaces (all or some, depending on the value of allow_optional_interfaces passed to the constructor).

Parameters:
robot_hwThe robot hardware abstraction.
root_nhA NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
controller_nhA NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.
[out]claimed_resourcesThe resources claimed by this controller. They can belong to multiple hardware interfaces.
Returns:
True if initialization was successful and the controller is ready to be started.

Implements controller_interface::ControllerBase.

Definition at line 297 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
MultiInterfaceController& controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::operator= ( const MultiInterfaceController< T1, T2, T3, T4 > &  c) [private]
template<class T1, class T2 = void, class T3 = void, class T4 = void>
static void controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::populateClaimedResources ( hardware_interface::RobotHW *  robot_hw,
std::set< std::string > &  claimed_resources 
) [inline, static, protected]

Extract all hardware interfaces requested by this controller from robot_hw_in, and add them also to robot_hw_out.

Parameters:
[in]robot_hw_inRobot hardware abstraction containing the interfaces requested by this controller, and potentially others.
[out]claimed_resourcesThe resources claimed by this controller. They can belong to multiple hardware interfaces.

Definition at line 398 of file multi_interface_controller.h.

Member Data Documentation

template<class T1, class T2 = void, class T3 = void, class T4 = void>
bool controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::allow_optional_interfaces_ [protected]

Flag to indicate if hardware interfaces are considered optional (i.e. non-required).

Definition at line 412 of file multi_interface_controller.h.

template<class T1, class T2 = void, class T3 = void, class T4 = void>
hardware_interface::RobotHW controller_interface::MultiInterfaceController< T1, T2, T3, T4 >::robot_hw_ctrl_ [protected]

Robot hardware abstraction containing only the subset of interfaces requested by the controller.

Definition at line 409 of file multi_interface_controller.h.

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

steer_drive_controller
Author(s): CIR-KIT , Masaru Morita
autogenerated on Sat Jun 8 2019 19:20:25