cob_twist_controller::ControllerInterfaceBase Class Reference

Base class for controller interfaces. More...

#include <controller_interface_base.h>

Inheritance diagram for cob_twist_controller::ControllerInterfaceBase:

Public Member Functions
virtual void	initialize (ros::NodeHandle &nh, const TwistControllerParams &params)=0
virtual void	processResult (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)=0
virtual	~ControllerInterfaceBase ()

Protected Member Functions
	ControllerInterfaceBase ()

Protected Attributes
ros::NodeHandle	nh_
TwistControllerParams	params_
ros::Publisher	pub_

Detailed Description

Base class for controller interfaces.

Definition at line 31 of file controller_interface_base.h.

Constructor & Destructor Documentation

virtual cob_twist_controller::ControllerInterfaceBase::~ControllerInterfaceBase ( )

inlinevirtual

Definition at line 34 of file controller_interface_base.h.

cob_twist_controller::ControllerInterfaceBase::ControllerInterfaceBase ( )

inlineprotected

Definition at line 42 of file controller_interface_base.h.

Member Function Documentation

virtual void cob_twist_controller::ControllerInterfaceBase::initialize ( ros::NodeHandle &  nh, const TwistControllerParams &  params  )

pure virtual

Implemented in cob_twist_controller::ControllerInterfaceJointStates, cob_twist_controller::ControllerInterfaceTrajectory, cob_twist_controller::ControllerInterfacePosition, and cob_twist_controller::ControllerInterfaceVelocity.

virtual void cob_twist_controller::ControllerInterfaceBase::processResult ( const KDL::JntArray &  q_dot_ik, const KDL::JntArray &  current_q  )

pure virtual

Implemented in cob_twist_controller::ControllerInterfaceJointStates, cob_twist_controller::ControllerInterfaceTrajectory, cob_twist_controller::ControllerInterfacePosition, and cob_twist_controller::ControllerInterfaceVelocity.

Member Data Documentation

ros::NodeHandle cob_twist_controller::ControllerInterfaceBase::nh_

protected

Definition at line 45 of file controller_interface_base.h.

TwistControllerParams cob_twist_controller::ControllerInterfaceBase::params_

protected

Definition at line 44 of file controller_interface_base.h.

ros::Publisher cob_twist_controller::ControllerInterfaceBase::pub_

protected

Definition at line 46 of file controller_interface_base.h.

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

• controller_interface_base.h