Class ManipulationController

• Defined in File manipulation_controller.hpp

Inheritance Relationships

Derived Types

• public rosbot_joy::servo::CartesianController (Class CartesianController)

• public rosbot_joy::servo::JointController (Class JointController)

• public rosbot_joy::servo::ManipulatorMoveGroupController (Class ManipulatorMoveGroupController)

Class Documentation

class ManipulationController

Subclassed by rosbot_joy::servo::CartesianController, rosbot_joy::servo::JointController, rosbot_joy::servo::ManipulatorMoveGroupController

Public Functions

virtual ~ManipulationController() = default

virtual bool Process(const sensor_msgs::msg::Joy::SharedPtr msg) = 0

Checks if button/axis was activated, if so send a command.

Returns:

true if button/axis was activated

virtual void Stop() = 0

Protected Functions

bool CheckIfPressed(const sensor_msgs::msg::Joy::SharedPtr msg, const std::map<std::string, std::unique_ptr<JoyControl>> &controls)

std::vector<double> CalculateCommand(const sensor_msgs::msg::Joy::SharedPtr msg, const std::vector<std::string> &cmd_names, const std::map<std::string, std::unique_ptr<JoyControl>> &controls)