controller_interface::ControllerBase Class Reference

Abstract Controller Interface. More...

#include <controller_base.h>

Inheritance diagram for controller_interface::ControllerBase:

Public Types
enum	{ CONSTRUCTED, INITIALIZED, RUNNING }
	The current execution state of the controller. More...

Public Member Functions
	ControllerBase ()
virtual	~ControllerBase ()
Real-Time Safe Functions
virtual void	starting (const ros::Time &)
	This is called from within the realtime thread just before the first call to update. More...
virtual void	update (const ros::Time &time, const ros::Duration &period)=0
	This is called periodically by the realtime thread when the controller is running. More...
virtual void	stopping (const ros::Time &)
	This is called from within the realtime thread just after the last update call before the controller is stopped. More...
bool	isRunning ()
	Check if the controller is running. More...
void	updateRequest (const ros::Time &time, const ros::Duration &period)
	Calls update only if this controller is running. More...
bool	startRequest (const ros::Time &time)
	Calls starting only if this controller is initialized or already running. More...
bool	stopRequest (const ros::Time &time)
	Calls stopping only if this controller is initialized or already running. More...

Public Attributes
enum controller_interface::ControllerBase:: { ... }	state_
	The current execution state of the controller. More...

Private Member Functions
	ControllerBase (const ControllerBase &c)
ControllerBase &	operator= (const ControllerBase &c)

Non Real-Time Safe Functions
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)=0
	Request that the controller be initialized. More...

Detailed Description

Abstract Controller Interface.

Definition at line 49 of file controller_base.h.

Member Typedef Documentation

typedef std::vector<hardware_interface::InterfaceResources> controller_interface::ControllerBase::ClaimedResources

Definition at line 125 of file controller_base.h.

Member Enumeration Documentation

anonymous enum

The current execution state of the controller.

Enumerator
CONSTRUCTED
INITIALIZED
RUNNING

Definition at line 151 of file controller_base.h.

Constructor & Destructor Documentation

controller_interface::ControllerBase::ControllerBase ( )

inline

Definition at line 52 of file controller_base.h.

virtual controller_interface::ControllerBase::~ControllerBase ( )

inlinevirtual

Definition at line 53 of file controller_base.h.

controller_interface::ControllerBase::ControllerBase ( const ControllerBase &  c )

private

Member Function Documentation

virtual bool controller_interface::ControllerBase::initRequest ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh, ClaimedResources &  claimed_resources  )

pure virtual

Request that the controller be initialized.

Parameters

	robot_hw	The robot hardware abstraction.
	root_nh	A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
	controller_nh	A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.
[out]	claimed_resources	The 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.

Implemented in controller_interface::MultiInterfaceController< T1, T2, T3, T4 >, and controller_interface::Controller< T >.

bool controller_interface::ControllerBase::isRunning ( )

inline

Check if the controller is running.

Returns

true if the controller is running

Definition at line 82 of file controller_base.h.

ControllerBase& controller_interface::ControllerBase::operator= ( const ControllerBase &  c )

private

virtual void controller_interface::ControllerBase::starting ( const ros::Time &  )

inlinevirtual

This is called from within the realtime thread just before the first call to update.

Parameters

time	The current time

Definition at line 63 of file controller_base.h.

bool controller_interface::ControllerBase::startRequest ( const ros::Time &  time )

inline

Calls starting only if this controller is initialized or already running.

Definition at line 95 of file controller_base.h.

virtual void controller_interface::ControllerBase::stopping ( const ros::Time &  )

inlinevirtual

This is called from within the realtime thread just after the last update call before the controller is stopped.

Parameters

time	The current time

Definition at line 77 of file controller_base.h.

bool controller_interface::ControllerBase::stopRequest ( const ros::Time &  time )

inline

Calls stopping only if this controller is initialized or already running.

Definition at line 108 of file controller_base.h.

virtual void controller_interface::ControllerBase::update ( const ros::Time &  time, const ros::Duration &  period  )

pure virtual

This is called periodically by the realtime thread when the controller is running.

Parameters

time	The current time
period	The time passed since the last call to update

void controller_interface::ControllerBase::updateRequest ( const ros::Time &  time, const ros::Duration &  period  )

inline

Calls update only if this controller is running.

Definition at line 88 of file controller_base.h.

Member Data Documentation

enum { ... } controller_interface::ControllerBase::state_

The current execution state of the controller.

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

• controller_base.h