controller_manager.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_
38 #define MOVEIT_MOVEIT_CONTROLLER_MANAGER_
39 
40 #include <vector>
41 #include <string>
42 #include <moveit_msgs/RobotTrajectory.h>
44 
47 {
50 {
51  enum Value
52  {
60  };
61 
63  {
64  }
65 
66  operator Value() const
67  {
68  return status_;
69  }
70 
71  explicit operator bool() const
72  {
73  return status_ == SUCCEEDED;
74  }
75 
77  std::string asString() const
78  {
79  switch (status_)
80  {
81  case RUNNING:
82  return "RUNNING";
83  case SUCCEEDED:
84  return "SUCCEEDED";
85  case PREEMPTED:
86  return "PREEMPTED";
87  case TIMED_OUT:
88  return "TIMED_OUT";
89  case ABORTED:
90  return "ABORTED";
91  case FAILED:
92  return "FAILED";
93  default:
94  return "UNKNOWN";
95  }
96  }
97 
98 private:
100 };
101 
103 
106 {
107 public:
109  MoveItControllerHandle(const std::string& name) : name_(name)
110  {
111  }
112 
114  {
115  }
116 
118  const std::string& getName() const
119  {
120  return name_;
121  }
122 
126  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) = 0;
127 
130  virtual bool cancelExecution() = 0;
131 
135  virtual bool waitForExecution(const ros::Duration& timeout = ros::Duration(0)) = 0;
136 
138  virtual ExecutionStatus getLastExecutionStatus() = 0;
139 
140 protected:
141  std::string name_;
142 };
143 
145 
154 {
155 public:
159  {
160  ControllerState() : active_(false), default_(false)
161  {
162  }
163 
166  bool active_;
167 
171  bool default_;
172  };
173 
176  {
177  }
178 
180  {
181  }
182 
185  virtual MoveItControllerHandlePtr getControllerHandle(const std::string& name) = 0;
186 
188  virtual void getControllersList(std::vector<std::string>& names) = 0;
189 
193  virtual void getActiveControllers(std::vector<std::string>& names) = 0;
194 
197  virtual void getControllerJoints(const std::string& name, std::vector<std::string>& joints) = 0;
198 
200  virtual ControllerState getControllerState(const std::string& name) = 0;
201 
203  virtual bool switchControllers(const std::vector<std::string>& activate,
204  const std::vector<std::string>& deactivate) = 0;
205 };
206 }
207 
208 #endif
MoveIt sends commands to a controller via a handle that satisfies this interface. ...
bool default_
It is often the case that multiple controllers could be used to execute a motion. Marking a controlle...
const std::string & getName() const
Get the name of the controller this handle can send commands to.
MoveIt! does not enforce how controllers are implemented. To make your controllers usable by MoveIt...
robot_trajectory::RobotTrajectory trajectory(rmodel,"right_arm")
bool active_
A controller can be active or inactive. This means that MoveIt could activate the controller when nee...
MoveItControllerManager()
Default constructor. This needs to have no arguments so that the plugin system can construct the obje...
Each controller known to MoveIt has a state. This structure describes that controller&#39;s state...
MoveItControllerHandle(const std::string &name)
Each controller has a name. The handle is initialized with that name.
MOVEIT_CLASS_FORWARD(MoveItControllerHandle)
Namespace for the base class of a MoveIt controller manager.
std::string asString() const
Convert the execution status to a string.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Jun 12 2018 02:47:30