Controller with a specific hardware interface More...
#include <controller.h>
Inheritance diagram for controller_interface::Controller< T >:
Public Member Functions | |
| Controller () | |
| virtual bool | init (T *, ros::NodeHandle &) |
| The init function is called to initialize the controller from a non-realtime thread with a pointer to the hardware interface, itself, instead of a pointer to a RobotHW. More... | |
| virtual bool | init (T *, ros::NodeHandle &, ros::NodeHandle &) |
| The init function is called to initialize the controller from a non-realtime thread with a pointer to the hardware interface, itself, instead of a pointer to a RobotHW. More... | |
| virtual | ~Controller () |
 Public Member Functions inherited from controller_interface::ControllerBase | |
| ControllerBase () | |
| virtual | ~ControllerBase () |
| virtual void | starting (const ros::Time &) |
| This is called from within the realtime thread just before the first call to update. More... | |
| virtual void | update (const ros::Time &time, const ros::Duration &period)=0 |
| This is called periodically by the realtime thread when the controller is running. More... | |
| virtual void | stopping (const ros::Time &) |
| This is called from within the realtime thread just after the last update call before the controller is stopped. More... | |
| bool | isRunning () |
| Check if the controller is running. More... | |
| void | updateRequest (const ros::Time &time, const ros::Duration &period) |
| Calls update only if this controller is running. More... | |
| bool | startRequest (const ros::Time &time) |
| Calls starting only if this controller is initialized or already running. More... | |
| bool | stopRequest (const ros::Time &time) |
| Calls stopping only if this controller is initialized or already running. More... | |
Protected Member Functions | |
| std::string | getHardwareInterfaceType () const |
| Get the name of this controller's hardware interface type. More... | |
| virtual bool | initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) |
| Initialize the controller from a RobotHW pointer. More... | |
Private Member Functions | |
| Controller (const Controller< T > &c) | |
| Controller< T > & | operator= (const Controller< T > &c) |
Additional Inherited Members | |
| Public Types inherited from controller_interface::ControllerBase | |
| enum | { CONSTRUCTED, INITIALIZED, RUNNING } |
| The current execution state of the controller. More... | |
| typedef std::vector< hardware_interface::InterfaceResources > | ClaimedResources |
| Public Attributes inherited from controller_interface::ControllerBase | |
| enum controller_interface::ControllerBase:: { ... } | state_ |
| The current execution state of the controller. More... | |
Detailed Description
template<class T>
class controller_interface::Controller< T >
Controller with a specific hardware interface
- Template Parameters
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T The hardware interface type used by this controller. This enforces semantic compatibility between the controller and the hardware it's meant to control.
Definition at line 52 of file controller.h.
Constructor & Destructor Documentation
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inline |
Definition at line 55 of file controller.h.
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inlinevirtual |
Definition at line 56 of file controller.h.
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private |
Member Function Documentation
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Get the name of this controller's hardware interface type.
Definition at line 136 of file controller.h.
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inlinevirtual |
The init function is called to initialize the controller from a non-realtime thread with a pointer to the hardware interface, itself, instead of a pointer to a RobotHW.
- Parameters
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hw The specific hardware interface used by this controller. controller_nh A NodeHandle in the namespace from which the controller should read its configuration, and where it should set up its ROS interface.
- Returns
- True if initialization was successful and the controller is ready to be started.
Definition at line 71 of file controller.h.
template<class T>
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inlinevirtual |
The init function is called to initialize the controller from a non-realtime thread with a pointer to the hardware interface, itself, instead of a pointer to a RobotHW.
- Parameters
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hw The specific hardware interface used by this controller. root_nh A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services). controller_nh A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.
- Returns
- True if initialization was successful and the controller is ready to be started.
Definition at line 88 of file controller.h.
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inlineprotectedvirtual |
Initialize the controller from a RobotHW pointer.
This calls init with the hardware interface for this controller if it can extract the correct interface from robot_hw.
Implements controller_interface::ControllerBase.
Definition at line 98 of file controller.h.
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private |
The documentation for this class was generated from the following file: