controller::MultiTriggerController Class Reference

#include <multi_trigger_controller.h>

Inheritance diagram for controller::MultiTriggerController:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	MultiTriggerController ()
void	update ()
	~MultiTriggerController ()
Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()
bool	getController (const std::string &name, int sched, ControllerType *&c)
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
virtual void	starting ()
void	starting (const ros::Time &time)
bool	startRequest ()
virtual void	stopping ()
void	stopping (const ros::Time &time)
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
void	updateRequest ()
virtual	~Controller ()

Private Types
typedef ethercat_trigger_controllers::MultiWaveform	config_t

Private Member Functions
bool	setMultiWaveformSrv (ethercat_trigger_controllers::SetMultiWaveform::Request &req, ethercat_trigger_controllers::SetMultiWaveform::Response &resp)

Private Attributes
config_t	config_
boost::mutex	config_mutex_
pr2_hardware_interface::DigitalOutCommand *	digital_out_command_
std::string	digital_output_name_
ros::NodeHandle	node_handle_
std::vector< boost::shared_ptr< realtime_tools::RealtimePublisher< std_msgs::Header > > >	pubs_
pr2_mechanism_model::RobotState *	robot_
ros::ServiceServer	set_waveform_handle_
unsigned int	transition_index_
double	transition_period_
double	transition_time_
ros::Publisher	waveform_

Additional Inherited Members
Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_
	AFTER_ME
std::vector< std::string >	before_list_
	BEFORE_ME
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum pr2_controller_interface::Controller:: { ... }	state_

Detailed Description

Definition at line 58 of file multi_trigger_controller.h.

Member Typedef Documentation

config_t

typedef ethercat_trigger_controllers::MultiWaveform controller::MultiTriggerController::config_t

private

Definition at line 60 of file multi_trigger_controller.h.

Constructor & Destructor Documentation

MultiTriggerController()

MultiTriggerController::MultiTriggerController

(

)

Definition at line 49 of file multi_trigger_controller.cpp.

~MultiTriggerController()

MultiTriggerController::~MultiTriggerController

(

)

Definition at line 54 of file multi_trigger_controller.cpp.

Member Function Documentation

init()

bool MultiTriggerController::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 113 of file multi_trigger_controller.cpp.

setMultiWaveformSrv()

bool MultiTriggerController::setMultiWaveformSrv ( ethercat_trigger_controllers::SetMultiWaveform::Request &  req, ethercat_trigger_controllers::SetMultiWaveform::Response &  resp  )

private

Definition at line 182 of file multi_trigger_controller.cpp.

update()

void MultiTriggerController::update ( )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 58 of file multi_trigger_controller.cpp.

Member Data Documentation

config_

config_t controller::MultiTriggerController::config_

private

Definition at line 92 of file multi_trigger_controller.h.

config_mutex_

boost::mutex controller::MultiTriggerController::config_mutex_

private

Definition at line 71 of file multi_trigger_controller.h.

digital_out_command_

pr2_hardware_interface::DigitalOutCommand* controller::MultiTriggerController::digital_out_command_

private

Definition at line 78 of file multi_trigger_controller.h.

digital_output_name_

std::string controller::MultiTriggerController::digital_output_name_

private

Definition at line 93 of file multi_trigger_controller.h.

node_handle_

ros::NodeHandle controller::MultiTriggerController::node_handle_

private

Definition at line 86 of file multi_trigger_controller.h.

pubs_

std::vector<boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Header> > > controller::MultiTriggerController::pubs_

private

Definition at line 89 of file multi_trigger_controller.h.

robot_

pr2_mechanism_model::RobotState* controller::MultiTriggerController::robot_

private

Definition at line 77 of file multi_trigger_controller.h.

set_waveform_handle_

ros::ServiceServer controller::MultiTriggerController::set_waveform_handle_

private

Definition at line 85 of file multi_trigger_controller.h.

transition_index_

unsigned int controller::MultiTriggerController::transition_index_

private

Definition at line 83 of file multi_trigger_controller.h.

transition_period_

double controller::MultiTriggerController::transition_period_

private

Definition at line 82 of file multi_trigger_controller.h.

transition_time_

double controller::MultiTriggerController::transition_time_

private

Definition at line 81 of file multi_trigger_controller.h.

waveform_

ros::Publisher controller::MultiTriggerController::waveform_

private

Definition at line 87 of file multi_trigger_controller.h.

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

• multi_trigger_controller.h
• multi_trigger_controller.cpp