Classes | Public Member Functions | List of all members
moveit_controller_manager::MoveItControllerManager Class Referenceabstract

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>

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. More...
 
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. More...
 
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. More...
 
virtual void getControllersList (std::vector< std::string > &names)=0
 Get the list of known controller names. More...
 
virtual ControllerState getControllerState (const std::string &name)=0
 Report the state of a controller, given its name. More...
 
 MoveItControllerManager ()
 Default constructor. This needs to have no arguments so that the plugin system can construct the object. More...
 
virtual bool switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate)=0
 Activate and deactivate controllers. More...
 
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 153 of file controller_manager.h.

Constructor & Destructor Documentation

moveit_controller_manager::MoveItControllerManager::MoveItControllerManager ( )
inline

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

Definition at line 175 of file controller_manager.h.

virtual moveit_controller_manager::MoveItControllerManager::~MoveItControllerManager ( )
inlinevirtual

Definition at line 179 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.

virtual ControllerState moveit_controller_manager::MoveItControllerManager::getControllerState ( const std::string &  name)
pure virtual

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 Wed Jul 18 2018 02:48:32