Class Plugin

Defined in File pid_speed_controller.hpp

Inheritance Relationships

Base Type

public as2_motion_controller_plugin_base::ControllerBase

Class Documentation

class Plugin : public as2_motion_controller_plugin_base::ControllerBase 

Public Functions

inline Plugin()

inline ~Plugin()

virtual void ownInitialize() override

virtual void updateState(const geometry_msgs::msg::PoseStamped &pose_msg, const geometry_msgs::msg::TwistStamped &twist_msg) override

virtual void updateReference(const geometry_msgs::msg::PoseStamped &ref) override

virtual void updateReference(const geometry_msgs::msg::TwistStamped &ref) override

virtual void updateReference(const as2_msgs::msg::TrajectoryPoint &ref) override

virtual bool setMode(const as2_msgs::msg::ControlMode &mode_in, const as2_msgs::msg::ControlMode &mode_out) override

virtual std::string getDesiredPoseFrameId()

virtual std::string getDesiredTwistFrameId()

virtual bool computeOutput(double dt, geometry_msgs::msg::PoseStamped &pose, geometry_msgs::msg::TwistStamped &twist, as2_msgs::msg::Thrust &thrust) override

virtual bool updateParams(const std::vector<rclcpp::Parameter> &_params_list) override

virtual void reset() override