Activates speed monitoring and sets the speed override based on the current operation mode. More...
#include <operation_mode_setup_executor.h>
Public Member Functions | |
bool | getSpeedOverride (pilz_msgs::GetSpeedOverride::Request &, pilz_msgs::GetSpeedOverride::Response &response) |
OperationModeSetupExecutor (const MonitorCartesianSpeedFunc &monitor_cartesian_speed_func) | |
Ctor. More... | |
void | updateOperationMode (const pilz_msgs::OperationModes &operation_mode) |
Function to be called whenever a new operation mode is set. More... | |
Private Attributes | |
MonitorCartesianSpeedFunc | monitor_cartesian_speed_func_ |
Function used to (de-)activate cartesian speed monitoring. More... | |
std::atomic< double > | speed_override_ { 0.0 } |
The active speed override. More... | |
ros::Time | time_stamp_last_op_mode_ { ros::Time(0) } |
Time stamp of the last received operation mode. More... | |
Activates speed monitoring and sets the speed override based on the current operation mode.
Definition at line 37 of file operation_mode_setup_executor.h.
prbt_hardware_support::OperationModeSetupExecutor::OperationModeSetupExecutor | ( | const MonitorCartesianSpeedFunc & | monitor_cartesian_speed_func | ) |
Ctor.
monitor_cartesian_speed_func | Function allowing to turn on/off the monitoring of the cartesian speed. |
Definition at line 24 of file operation_mode_setup_executor.cpp.
bool prbt_hardware_support::OperationModeSetupExecutor::getSpeedOverride | ( | pilz_msgs::GetSpeedOverride::Request & | , |
pilz_msgs::GetSpeedOverride::Response & | response | ||
) |
Definition at line 60 of file operation_mode_setup_executor.cpp.
void prbt_hardware_support::OperationModeSetupExecutor::updateOperationMode | ( | const pilz_msgs::OperationModes & | operation_mode | ) |
Function to be called whenever a new operation mode is set.
Definition at line 29 of file operation_mode_setup_executor.cpp.
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private |
Function used to (de-)activate cartesian speed monitoring.
Definition at line 60 of file operation_mode_setup_executor.h.
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private |
The active speed override.
Definition at line 57 of file operation_mode_setup_executor.h.
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private |
Time stamp of the last received operation mode.
Definition at line 62 of file operation_mode_setup_executor.h.