franka_example_controllers::ModelExampleController Class Reference

#include <model_example_controller.h>

Inheritance diagram for franka_example_controllers::ModelExampleController:

Public Member Functions
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &node_handle) override
void	update (const ros::Time &, const ros::Duration &) override
Public Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)
virtual void	aborting (const ros::Time &)
bool	abortRequest (const ros::Time &time)
bool	abortRequest (const ros::Time &time)
	ControllerBase ()=default
	ControllerBase (const ControllerBase &)=delete
	ControllerBase (ControllerBase &&)=delete
bool	isAborted () const
bool	isAborted () const
bool	isInitialized () const
bool	isInitialized () const
bool	isRunning () const
bool	isRunning () const
bool	isStopped () const
bool	isStopped () const
bool	isWaiting () const
bool	isWaiting () const
ControllerBase &	operator= (const ControllerBase &)=delete
ControllerBase &	operator= (ControllerBase &&)=delete
virtual void	starting (const ros::Time &)
virtual void	starting (const ros::Time &)
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 void	waiting (const ros::Time &)
virtual void	waiting (const ros::Time &)
bool	waitRequest (const ros::Time &time)
bool	waitRequest (const ros::Time &time)
virtual	~ControllerBase ()=default

Private Attributes
std::unique_ptr< franka_hw::FrankaStateHandle >	franka_state_handle_
franka_hw::FrankaStateInterface *	franka_state_interface_
std::unique_ptr< franka_hw::FrankaModelHandle >	model_handle_
franka_hw::FrankaModelInterface *	model_interface_
franka_hw::TriggerRate	rate_trigger_ {1.0}

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
enum	ControllerState {   ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED,   ControllerState::WAITING, ControllerState::ABORTED }
Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_
Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)
static void	extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)
Protected Attributes inherited from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 19 of file model_example_controller.h.

Member Function Documentation

init()

bool franka_example_controllers::ModelExampleController::init ( hardware_interface::RobotHW *  robot_hw, ros::NodeHandle &  node_handle  )

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< franka_hw::FrankaModelInterface, franka_hw::FrankaStateInterface >.

Definition at line 33 of file model_example_controller.cpp.

update()

void franka_example_controllers::ModelExampleController::update ( const ros::Time &  , const ros::Duration &    )

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 71 of file model_example_controller.cpp.

Member Data Documentation

franka_state_handle_

std::unique_ptr<franka_hw::FrankaStateHandle> franka_example_controllers::ModelExampleController::franka_state_handle_

private

Definition at line 28 of file model_example_controller.h.

franka_state_interface_

franka_hw::FrankaStateInterface* franka_example_controllers::ModelExampleController::franka_state_interface_

private

Definition at line 27 of file model_example_controller.h.

model_handle_

std::unique_ptr<franka_hw::FrankaModelHandle> franka_example_controllers::ModelExampleController::model_handle_

private

Definition at line 30 of file model_example_controller.h.

model_interface_

franka_hw::FrankaModelInterface* franka_example_controllers::ModelExampleController::model_interface_

private

Definition at line 29 of file model_example_controller.h.

rate_trigger_

franka_hw::TriggerRate franka_example_controllers::ModelExampleController::rate_trigger_ {1.0}

private

Definition at line 31 of file model_example_controller.h.

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

• model_example_controller.h
• model_example_controller.cpp