generic_control_toolbox::RosControlInterface< JointInterface > Class Template Reference

#include <ros_control_interface.hpp>

Inheritance diagram for generic_control_toolbox::RosControlInterface< JointInterface >:

Public Member Functions
bool	init (JointInterface *hw, ros::NodeHandle &nh)
	RosControlInterface ()
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	update (const ros::Time &time, const ros::Duration &period)
Public Member Functions inherited from controller_interface::Controller< JointInterface >
	Controller ()
virtual bool	init (JointInterface *, 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)
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 ()

Protected Member Functions
virtual std::shared_ptr< ControllerBase >	initController (ros::NodeHandle &nh) const =0
Protected Member Functions inherited from controller_interface::Controller< JointInterface >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Private Attributes
std::shared_ptr< ControllerBase >	controller_
std::vector< std::string >	joint_names_
JointType	joint_type_
std::vector< urdf::JointConstSharedPtr >	joint_urdfs_
std::vector< hardware_interface::JointHandle >	joints_
unsigned int	n_joints_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_

Detailed Description

template<class JointInterface>
class generic_control_toolbox::RosControlInterface< JointInterface >

Embeds a ControllerBase within the ros control architecture.

Definition at line 22 of file ros_control_interface.hpp.

Constructor & Destructor Documentation

template<class JointInterface >

generic_control_toolbox::RosControlInterface< JointInterface >::RosControlInterface

(

)

Definition at line 57 of file ros_control_interface.hpp.

Member Function Documentation

template<class JointInterface >

bool generic_control_toolbox::RosControlInterface< JointInterface >::init ( JointInterface *  hw, ros::NodeHandle &  nh  )

virtual

Reimplemented from controller_interface::Controller< JointInterface >.

Definition at line 85 of file ros_control_interface.hpp.

template<class JointInterface >

virtual std::shared_ptr<ControllerBase> generic_control_toolbox::RosControlInterface< JointInterface >::initController ( ros::NodeHandle &  nh ) const

protectedpure virtual

Initializes an instance of a Controller base to be embedded within ROS Control.

Parameters

nh	The NodeHandle provided by ROS control with the namespace of the controller.

Returns

A shared pointer to the instantiated controller base

template<class JointInterface >

void generic_control_toolbox::RosControlInterface< JointInterface >::starting ( const ros::Time &  time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 135 of file ros_control_interface.hpp.

template<class JointInterface >

void generic_control_toolbox::RosControlInterface< JointInterface >::stopping ( const ros::Time &  time )

virtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 182 of file ros_control_interface.hpp.

template<class JointInterface >

void generic_control_toolbox::RosControlInterface< JointInterface >::update ( const ros::Time &  time, const ros::Duration &  period  )

virtual

Implements controller_interface::ControllerBase.

Definition at line 141 of file ros_control_interface.hpp.

Member Data Documentation

template<class JointInterface >

std::shared_ptr<ControllerBase> generic_control_toolbox::RosControlInterface< JointInterface >::controller_

private

Definition at line 46 of file ros_control_interface.hpp.

template<class JointInterface >

std::vector<std::string> generic_control_toolbox::RosControlInterface< JointInterface >::joint_names_

private

Definition at line 49 of file ros_control_interface.hpp.

template<class JointInterface >

JointType generic_control_toolbox::RosControlInterface< JointInterface >::joint_type_

private

Definition at line 47 of file ros_control_interface.hpp.

template<class JointInterface >

std::vector<urdf::JointConstSharedPtr> generic_control_toolbox::RosControlInterface< JointInterface >::joint_urdfs_

private

Definition at line 50 of file ros_control_interface.hpp.

template<class JointInterface >

std::vector<hardware_interface::JointHandle> generic_control_toolbox::RosControlInterface< JointInterface >::joints_

private

Definition at line 51 of file ros_control_interface.hpp.

template<class JointInterface >

unsigned int generic_control_toolbox::RosControlInterface< JointInterface >::n_joints_

private

Definition at line 48 of file ros_control_interface.hpp.

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

• ros_control_interface.hpp