Class MotionPrimitivesForwardController

Inheritance Relationships

Base Type

Class Documentation

class MotionPrimitivesForwardController : public motion_primitives_controllers::MotionPrimitivesBaseController

Public Functions

MotionPrimitivesForwardController() = default
~MotionPrimitivesForwardController() override = default
controller_interface::CallbackReturn on_init() override
controller_interface::CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &previous_state) override
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

Protected Types

using ExecuteMotionAction = control_msgs::action::ExecuteMotionPrimitiveSequence
using RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle<ExecuteMotionAction>

Protected Functions

rclcpp_action::GoalResponse goal_received_callback(const rclcpp_action::GoalUUID &uuid, std::shared_ptr<const ExecuteMotionAction::Goal> goal)
rclcpp_action::CancelResponse goal_cancelled_callback(const std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteMotionAction>> goal_handle)
void goal_accepted_callback(std::shared_ptr<rclcpp_action::ServerGoalHandle<ExecuteMotionAction>> goal_handle)

Protected Attributes

std::shared_ptr<motion_primitives_forward_controller::ParamListener> param_listener_
motion_primitives_forward_controller::Params params_
rclcpp_action::Server<ExecuteMotionAction>::SharedPtr action_server_
realtime_tools::RealtimeThreadSafeBox<std::shared_ptr<RealtimeGoalHandle>> rt_goal_handle_