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

#include <forward_joint_group_command_controller.h>

Inheritance diagram for forward_command_controller::ForwardJointGroupCommandController< T >:

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 >
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)

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 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

Public Attributes
realtime_tools::RealtimeBuffer< std::vector< double > >	commands_buffer_

std::vector< std::string >	joint_names_

std::vector< hardware_interface::JointHandle >	joints_

unsigned int	n_joints_

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	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::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Protected Member Functions inherited from controller_interface::Controller< T >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

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