Template Class SemanticComponentCommandInterface
Class Documentation
-
template<typename MessageInputType>
class SemanticComponentCommandInterface Public Functions
-
inline SemanticComponentCommandInterface(const std::string &name, const std::vector<std::string> &interface_names)
-
virtual ~SemanticComponentCommandInterface() = default
-
inline bool assign_loaned_command_interfaces(std::vector<hardware_interface::LoanedCommandInterface> &command_interfaces)
Assign loaned command interfaces from the hardware.
Assign loaned command interfaces on the controller start.
- Parameters:
command_interfaces – [in] vector of command interfaces provided by the controller.
-
inline void release_interfaces()
Release loaned command interfaces from the hardware.
-
inline const std::vector<std::string> &get_command_interface_names() const
Definition of command interface names for the component.
The function should be used in “command_interface_configuration()” of a controller to provide standardized command interface names semantic component.
\default Default implementation defined command interfaces as “name/NR” where NR is number from 0 to size of values;
- Returns:
list of strings with command interface names for the semantic component.
-
inline bool set_values(const std::vector<double> &values)
Return all values.
- Returns:
true if it gets all the values, else false (i.e., invalid size or if the method
hardware_interface::LoanedCommandInterface::set_value
fails).
-
virtual bool set_values_from_message(const MessageInputType&) = 0
Set values from MessageInputType.
- Returns:
True if all values were set successfully, false otherwise.
-
inline SemanticComponentCommandInterface(const std::string &name, const std::vector<std::string> &interface_names)