Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
forward_command_controller::ForwardJointGroupCommandController< T > Class Template Reference

Forward command controller for a set of joints. More...

#include <forward_joint_group_command_controller.h>

Inheritance diagram for forward_command_controller::ForwardJointGroupCommandController< T >:
Inheritance graph
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Public Member Functions

 ForwardJointGroupCommandController ()
 
bool init (T *hw, ros::NodeHandle &n)
 
void starting (const ros::Time &time)
 
void update (const ros::Time &, const ros::Duration &)
 
 ~ForwardJointGroupCommandController ()
 
- Public Member Functions inherited from controller_interface::Controller< T >
 Controller ()
 
virtual bool init (T *, ros::NodeHandle &, ros::NodeHandle &)
 
virtual ~Controller ()
 
- Public Member Functions inherited from controller_interface::ControllerBase
 ControllerBase ()
 
bool isRunning ()
 
bool isRunning ()
 
bool startRequest (const ros::Time &time)
 
bool startRequest (const ros::Time &time)
 
virtual void stopping (const ros::Time &)
 
virtual void stopping (const ros::Time &)
 
bool stopRequest (const ros::Time &time)
 
bool stopRequest (const ros::Time &time)
 
void updateRequest (const ros::Time &time, const ros::Duration &period)
 
void updateRequest (const ros::Time &time, const ros::Duration &period)
 
virtual ~ControllerBase ()
 

Public Attributes

realtime_tools::RealtimeBuffer< std::vector< double > > commands_buffer_
 
std::vector< std::string > joint_names_
 
std::vector< hardware_interface::JointHandlejoints_
 
unsigned int n_joints_
 
- Public Attributes inherited from controller_interface::ControllerBase
 CONSTRUCTED
 
 INITIALIZED
 
 RUNNING
 
enum controller_interface::ControllerBase:: { ... }  state_
 

Private Member Functions

void commandCB (const std_msgs::Float64MultiArrayConstPtr &msg)
 

Private Attributes

ros::Subscriber sub_command_
 

Additional Inherited Members

- Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResourcesClaimedResources
 
- Protected Member Functions inherited from controller_interface::Controller< T >
std::string getHardwareInterfaceType () const
 
virtual bool initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)
 

Detailed Description

template<class T>
class forward_command_controller::ForwardJointGroupCommandController< T >

Forward command controller for a set of joints.

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

Template Parameters
TType implementing the JointCommandInterface.

interface

Parameters
typehardware interface type.
jointsNames of the joints to control.

Subscribes to:

Definition at line 73 of file forward_joint_group_command_controller.h.

Constructor & Destructor Documentation

◆ ForwardJointGroupCommandController()

Definition at line 76 of file forward_joint_group_command_controller.h.

◆ ~ForwardJointGroupCommandController()

Definition at line 77 of file forward_joint_group_command_controller.h.

Member Function Documentation

◆ commandCB()

template<class T >
void forward_command_controller::ForwardJointGroupCommandController< T >::commandCB ( const std_msgs::Float64MultiArrayConstPtr &  msg)
inlineprivate

Definition at line 128 of file forward_joint_group_command_controller.h.

◆ init()

template<class T >
bool forward_command_controller::ForwardJointGroupCommandController< T >::init ( T *  hw,
ros::NodeHandle n 
)
inlinevirtual

◆ starting()

template<class T >
void forward_command_controller::ForwardJointGroupCommandController< T >::starting ( const ros::Time time)
virtual

◆ update()

template<class T >
void forward_command_controller::ForwardJointGroupCommandController< T >::update ( const ros::Time ,
const ros::Duration  
)
inlinevirtual

Member Data Documentation

◆ commands_buffer_

template<class T >
realtime_tools::RealtimeBuffer<std::vector<double> > forward_command_controller::ForwardJointGroupCommandController< T >::commands_buffer_

Definition at line 123 of file forward_joint_group_command_controller.h.

◆ joint_names_

template<class T >
std::vector< std::string > forward_command_controller::ForwardJointGroupCommandController< T >::joint_names_

Definition at line 121 of file forward_joint_group_command_controller.h.

◆ joints_

Definition at line 122 of file forward_joint_group_command_controller.h.

◆ n_joints_

template<class T >
unsigned int forward_command_controller::ForwardJointGroupCommandController< T >::n_joints_

Definition at line 124 of file forward_joint_group_command_controller.h.

◆ sub_command_

Definition at line 127 of file forward_joint_group_command_controller.h.


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


forward_command_controller
Author(s): Vijay Pradeep, Adolfo Rodriguez Tsouroukdissian
autogenerated on Fri Nov 15 2019 03:18:19