forward_command_controller::ForwardCommandController< T > Class Template Reference

Single joint controller. More...

#include <forward_command_controller.h>

Inheritance diagram for forward_command_controller::ForwardCommandController< T >:

List of all members.

Public Member Functions
	ForwardCommandController ()
bool	init (T *hw, ros::NodeHandle &n)
void	starting (const ros::Time &time)
void	update (const ros::Time &, const ros::Duration &)
	~ForwardCommandController ()
Public Attributes
realtime_tools::RealtimeBuffer < double >	command_buffer_
hardware_interface::JointHandle	joint_
Private Member Functions
void	commandCB (const std_msgs::Float64ConstPtr &msg)
Private Attributes
ros::Subscriber	sub_command_

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Detailed Description

template<class T>
class forward_command_controller::ForwardCommandController< T >

Single joint controller.

This class passes the command signal down to the joint. Command signal and joint hardware interface are of the same type, e.g. effort commands for an effort-controlled joint.

Template Parameters:

T	Type implementing the JointCommandInterface.

interface

Parameters:

type	hardware interface type.
joint	Name of the joint to control.

Subscribes to:

• command (std_msgs::Float64) : The joint command to apply.

Definition at line 69 of file forward_command_controller.h.

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Constructor & Destructor Documentation

template<class T >

forward_command_controller::ForwardCommandController< T >::ForwardCommandController

(

)

[inline]

Definition at line 72 of file forward_command_controller.h.

template<class T >

forward_command_controller::ForwardCommandController< T >::~ForwardCommandController

(

)

[inline]

Definition at line 73 of file forward_command_controller.h.

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Member Function Documentation

template<class T >

void forward_command_controller::ForwardCommandController< T >::commandCB

(

const std_msgs::Float64ConstPtr &

msg

)

[inline, private]

Definition at line 96 of file forward_command_controller.h.

template<class T >

bool forward_command_controller::ForwardCommandController< T >::init	(	T *	hw,
		ros::NodeHandle &	n
	)		[inline, virtual]

Reimplemented from controller_interface::Controller< T >.

Definition at line 75 of file forward_command_controller.h.

template<class T >

void forward_command_controller::ForwardCommandController< T >::starting

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller_interface::ControllerBase.

template<class T >

void forward_command_controller::ForwardCommandController< T >::update	(	const ros::Time &	,
		const ros::Duration &
	)		[inline, virtual]

Implements controller_interface::ControllerBase.

Definition at line 89 of file forward_command_controller.h.

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Member Data Documentation

template<class T >

realtime_tools::RealtimeBuffer<double> forward_command_controller::ForwardCommandController< T >::command_buffer_

Definition at line 92 of file forward_command_controller.h.

template<class T >

hardware_interface::JointHandle forward_command_controller::ForwardCommandController< T >::joint_

Definition at line 91 of file forward_command_controller.h.

template<class T >

ros::Subscriber forward_command_controller::ForwardCommandController< T >::sub_command_ [private]

Definition at line 95 of file forward_command_controller.h.

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

• forward_command_controller.h