Class MotionPrimitivesForwardController
Inheritance Relationships
Base Type
public motion_primitives_controllers::MotionPrimitivesBaseController
(Class MotionPrimitivesBaseController)
Class Documentation
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class MotionPrimitivesForwardController : public motion_primitives_controllers::MotionPrimitivesBaseController
Public Functions
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MotionPrimitivesForwardController() = default
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~MotionPrimitivesForwardController() override = default
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controller_interface::CallbackReturn on_init() override
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controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
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controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
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controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
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controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override
Protected Types
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using ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence
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using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle<ExecuteMotionAction>
Protected Functions
Protected Attributes
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std::shared_ptr<motion_primitives_forward_controller::ParamListener> param_listener_
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motion_primitives_forward_controller::Params params_
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rclcpp_action::Server<ExecuteMotionAction>::SharedPtr action_server_
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realtime_tools::RealtimeThreadSafeBox<std::shared_ptr<RealtimeGoalHandle>> rt_goal_handle_
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MotionPrimitivesForwardController() = default