forward_command_controller::ForwardCommandController< T > Class Template Reference

Single joint controller. More...

#include <forward_command_controller.h>

Inheritance diagram for forward_command_controller::ForwardCommandController< T >:

Public Member Functions
	ForwardCommandController ()
bool	init (T *hw, ros::NodeHandle &n)
void	starting (const ros::Time &time)
void	update (const ros::Time &, const ros::Duration &)
	~ForwardCommandController ()
Public Member Functions inherited from controller_interface::Controller< T >
	Controller ()
virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)
virtual	~Controller ()
Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()
bool	isRunning ()
bool	isRunning ()
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	stopping (const ros::Time &)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual	~ControllerBase ()

Public Attributes
realtime_tools::RealtimeBuffer< double >	command_buffer_
hardware_interface::JointHandle	joint_
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_

Private Member Functions
void	commandCB (const std_msgs::Float64ConstPtr &msg)

Private Attributes
ros::Subscriber	sub_command_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Protected Member Functions inherited from controller_interface::Controller< T >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

template<class T>
class forward_command_controller::ForwardCommandController< T >

Single joint controller.

This class passes the command signal down to the joint. Command signal and joint hardware interface are of the same type, e.g. effort commands for an effort-controlled joint.

Template Parameters

T	Type implementing the JointCommandInterface.

interface

Parameters

type	hardware interface type.
joint	Name of the joint to control.

Subscribes to:

• command (std_msgs::Float64) : The joint command to apply.

Definition at line 69 of file forward_command_controller.h.

Constructor & Destructor Documentation

template<class T >

forward_command_controller::ForwardCommandController< T >::ForwardCommandController ( )

inline

Definition at line 72 of file forward_command_controller.h.

template<class T >

forward_command_controller::ForwardCommandController< T >::~ForwardCommandController ( )

inline

Definition at line 73 of file forward_command_controller.h.

Member Function Documentation

template<class T >

void forward_command_controller::ForwardCommandController< T >::commandCB ( const std_msgs::Float64ConstPtr &  msg )

inlineprivate

Definition at line 96 of file forward_command_controller.h.

template<class T >

bool forward_command_controller::ForwardCommandController< T >::init ( T *  hw, ros::NodeHandle &  n  )

inlinevirtual

Reimplemented from controller_interface::Controller< T >.

Definition at line 75 of file forward_command_controller.h.

template<class T >

void forward_command_controller::ForwardCommandController< T >::starting ( const ros::Time &  time )

virtual

Reimplemented from controller_interface::ControllerBase.

template<class T >

void forward_command_controller::ForwardCommandController< T >::update ( const ros::Time &  , const ros::Duration &    )

inlinevirtual

Implements controller_interface::ControllerBase.

Definition at line 89 of file forward_command_controller.h.

Member Data Documentation

template<class T >

realtime_tools::RealtimeBuffer<double> forward_command_controller::ForwardCommandController< T >::command_buffer_

Definition at line 92 of file forward_command_controller.h.

template<class T >

hardware_interface::JointHandle forward_command_controller::ForwardCommandController< T >::joint_

Definition at line 91 of file forward_command_controller.h.

template<class T >

ros::Subscriber forward_command_controller::ForwardCommandController< T >::sub_command_

private

Definition at line 95 of file forward_command_controller.h.

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The documentation for this class was generated from the following file:

• forward_command_controller.h