#include <ros_control_interface.hpp>
Inheritance diagram for generic_control_toolbox::RosControlInterface< JointInterface >:
Public Member Functions | |
| bool | init (JointInterface *hw, ros::NodeHandle &nh) |
| RosControlInterface () | |
| void | starting (const ros::Time &time) |
| void | stopping (const ros::Time &time) |
| void | update (const ros::Time &time, const ros::Duration &period) |
 Public Member Functions inherited from controller_interface::Controller< JointInterface > | |
| virtual bool | init (T *, ros::NodeHandle &) |
| virtual bool | init (T *, ros::NodeHandle &, ros::NodeHandle &) |
| Public Member Functions inherited from controller_interface::ControllerBase | |
| virtual void | aborting (const ros::Time &) |
| virtual void | aborting (const ros::Time &) |
| bool | abortRequest (const ros::Time &time) |
| bool | abortRequest (const ros::Time &time) |
| ControllerBase ()=default | |
| ControllerBase (const ControllerBase &)=delete | |
| ControllerBase (ControllerBase &&)=delete | |
| bool | isAborted () const |
| bool | isAborted () const |
| bool | isInitialized () const |
| bool | isInitialized () const |
| bool | isRunning () const |
| bool | isRunning () const |
| bool | isStopped () const |
| bool | isStopped () const |
| bool | isWaiting () const |
| bool | isWaiting () const |
| ControllerBase & | operator= (const ControllerBase &)=delete |
| ControllerBase & | operator= (ControllerBase &&)=delete |
| bool | startRequest (const ros::Time &time) |
| bool | startRequest (const ros::Time &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 void | waiting (const ros::Time &) |
| virtual void | waiting (const ros::Time &) |
| bool | waitRequest (const ros::Time &time) |
| bool | waitRequest (const ros::Time &time) |
| virtual | ~ControllerBase ()=default |
Protected Member Functions | |
| virtual std::shared_ptr< ControllerBase > | initController (ros::NodeHandle &nh) const =0 |
| Protected Member Functions inherited from controller_interface::Controller< JointInterface > | |
| std::string | getHardwareInterfaceType () const |
| bool | initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override |
Private Attributes | |
| std::shared_ptr< ControllerBase > | controller_ |
| std::vector< std::string > | joint_names_ |
| JointType | joint_type_ |
| std::vector< urdf::JointConstSharedPtr > | joint_urdfs_ |
| std::vector< hardware_interface::JointHandle > | joints_ |
| unsigned int | n_joints_ |
Additional Inherited Members | |
| Public Types inherited from controller_interface::ControllerBase | |
| typedef std::vector< hardware_interface::InterfaceResources > | ClaimedResources |
| Public Attributes inherited from controller_interface::ControllerBase | |
| ABORTED | |
| CONSTRUCTED | |
| INITIALIZED | |
| RUNNING | |
| enum controller_interface::ControllerBase:: { ... } | state_ |
| STOPPED | |
| WAITING | |
Detailed Description
template<class JointInterface>
class generic_control_toolbox::RosControlInterface< JointInterface >
Embeds a ControllerBase within the ros control architecture.
Definition at line 22 of file ros_control_interface.hpp.
Constructor & Destructor Documentation
◆ RosControlInterface()
template<class JointInterface >
| generic_control_toolbox::RosControlInterface< JointInterface >::RosControlInterface | ( | ) |
Definition at line 57 of file ros_control_interface.hpp.
Member Function Documentation
◆ init()
template<class JointInterface >
| bool generic_control_toolbox::RosControlInterface< JointInterface >::init | ( | JointInterface * | hw, |
| ros::NodeHandle & | nh | ||
| ) |
Definition at line 85 of file ros_control_interface.hpp.
◆ initController()
template<class JointInterface >
|
protectedpure virtual |
Initializes an instance of a Controller base to be embedded within ROS Control.
- Parameters
-
nh The NodeHandle provided by ROS control with the namespace of the controller.
- Returns
- A shared pointer to the instantiated controller base
◆ starting()
template<class JointInterface >
|
virtual |
Reimplemented from controller_interface::ControllerBase.
Definition at line 143 of file ros_control_interface.hpp.
◆ stopping()
template<class JointInterface >
|
virtual |
Reimplemented from controller_interface::ControllerBase.
Definition at line 190 of file ros_control_interface.hpp.
◆ update()
template<class JointInterface >
|
virtual |
Implements controller_interface::ControllerBase.
Definition at line 149 of file ros_control_interface.hpp.
Member Data Documentation
◆ controller_
template<class JointInterface >
|
private |
Definition at line 46 of file ros_control_interface.hpp.
◆ joint_names_
template<class JointInterface >
|
private |
Definition at line 49 of file ros_control_interface.hpp.
◆ joint_type_
template<class JointInterface >
|
private |
Definition at line 47 of file ros_control_interface.hpp.
◆ joint_urdfs_
template<class JointInterface >
|
private |
Definition at line 50 of file ros_control_interface.hpp.
◆ joints_
template<class JointInterface >
|
private |
Definition at line 51 of file ros_control_interface.hpp.
◆ n_joints_
template<class JointInterface >
|
private |
Definition at line 48 of file ros_control_interface.hpp.
The documentation for this class was generated from the following file: