Controller with a specific hardware interface More...
#include <controller.h>
Inheritance diagram for controller_interface::Controller< T >:
Public Member Functions | |
| 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... | |
 Public Member Functions inherited from controller_interface::ControllerBase | |
| ControllerBase ()=default | |
| ControllerBase (const ControllerBase &)=delete | |
| ControllerBase (ControllerBase &&)=delete | |
| ControllerBase & | operator= (const ControllerBase &)=delete |
| ControllerBase & | operator= (ControllerBase &&)=delete |
| virtual | ~ControllerBase ()=default |
| 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... | |
| virtual void | waiting (const ros::Time &) |
| This is called from within the realtime thread while the controller is waiting to start. More... | |
| virtual void | aborting (const ros::Time &) |
| This is called from within the realtime thread when the controller needs to be aborted. More... | |
| bool | isInitialized () const |
| Check if the controller is initialized. More... | |
| bool | isRunning () const |
| Check if the controller is running. More... | |
| bool | isStopped () const |
| Check if the controller is stopped. More... | |
| bool | isWaiting () const |
| Check if the controller is waiting. More... | |
| bool | isAborted () const |
| Check if the controller is aborted. 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 unless this controller is just constructed. More... | |
| bool | stopRequest (const ros::Time &time) |
| Calls stopping unless this controller is just constructed. More... | |
| bool | waitRequest (const ros::Time &time) |
| Calls waiting unless this controller is just constructed. More... | |
| bool | abortRequest (const ros::Time &time) |
| Calls abort unless this controller is just constructed. More... | |
Protected Member Functions | |
| std::string | getHardwareInterfaceType () const |
| Get the name of this controller's hardware interface type. More... | |
| bool | initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override |
| Initialize the controller from a RobotHW pointer. More... | |
Additional Inherited Members | |
| Public Types inherited from controller_interface::ControllerBase | |
| enum | ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED } |
| typedef std::vector< hardware_interface::InterfaceResources > | ClaimedResources |
| Public Attributes inherited from controller_interface::ControllerBase | |
| ControllerState | state_ = ControllerState::CONSTRUCTED |
| 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
-
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.
Member Function Documentation
◆ getHardwareInterfaceType()
template<class T >
|
inlineprotected |
Get the name of this controller's hardware interface type.
Definition at line 134 of file controller.h.
◆ init() [1/2]
template<class T >
|
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
-
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 69 of file controller.h.
◆ init() [2/2]
template<class T >
|
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
-
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 86 of file controller.h.
◆ initRequest()
template<class T >
|
inlineoverrideprotectedvirtual |
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 96 of file controller.h.
The documentation for this class was generated from the following file: