Class ControllersConfig

Inheritance Relationships

Base Type

  • public SetupConfig

Derived Types

Class Documentation

class ControllersConfig : public SetupConfig

All the controller configurations.

Subclassed by moveit_setup::controllers::MoveItControllersConfig, moveit_setup::controllers::ROS2ControllersConfig

Public Functions

inline bool isConfigured() const override
inline std::vector<ControllerInfo> &getControllers()

Gets controllers_ vector.

bool addController(const std::string &name, const std::string &type, const std::vector<std::string> &joint_names)

Adds a controller to controllers_ vector.

Parameters:

  • name – Name of the controller

  • type – type of the controller

  • joint_names – vector of the joint names

Returns:

true if inserted correctly

bool addController(const ControllerInfo &new_controller)

Adds a controller to controllers_ vector.

Parameters:

new_controller – a new Controller to add

Returns:

true if inserted correctly

ControllerInfo *findControllerByName(const std::string &controller_name)

Find the associated controller by name

Parameters:

controller_name – - name of controller to find in datastructure

Returns:

pointer to data in datastructure

bool deleteController(const std::string &controller_name)

Delete controller by name

Parameters:

controller_name – - name of controller to delete

Returns:

true if deleted, false if not found

inline bool hasChangedGroups() const

Protected Attributes

std::vector<ControllerInfo> controllers_

Controllers config data.

bool changed_