Class Controllers

Inheritance Relationships

Base Type

  • public SetupStep

Derived Types

Class Documentation

class Controllers : public SetupStep

Subclassed by moveit_setup::controllers::MoveItControllers, moveit_setup::controllers::ROS2Controllers

Public Functions

virtual std::string getInstructions() const = 0
virtual std::string getButtonText() const = 0
virtual std::vector<std::string> getAvailableTypes() const = 0
virtual std::string getDefaultType() const = 0
inline virtual FieldPointers getAdditionalControllerFields() const

Define the types of controller fields for the specific types of controllers.

inline bool isReady() const override
inline const std::vector<std::string> &getJointNames() const
inline std::vector<std::string> getGroupNames() const
inline std::string getChildOfJoint(const std::string &joint_name) const
inline std::vector<ControllerInfo> &getControllers() const
inline bool addController(const ControllerInfo &new_controller)
inline ControllerInfo *findControllerByName(const std::string &controller_name)
inline bool deleteController(const std::string &controller_name)
bool addDefaultControllers()
std::vector<std::string> getJointsFromGroups(const std::vector<std::string> &group_names) const

Protected Attributes

std::shared_ptr<SRDFConfig> srdf_config_
std::shared_ptr<ControllersConfig> controllers_config_