Class ControllerInterface

• Defined in File controller_interface.hpp

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterfaceBase (Class ControllerInterfaceBase)

Class Documentation

class ControllerInterface : public controller_interface::ControllerInterfaceBase

Public Functions

ControllerInterface()

virtual ~ControllerInterface() = default

virtual bool is_chainable() const final

Controller is not chainable.

Returns:

false.

virtual std::vector<hardware_interface::StateInterface::ConstSharedPtr> export_state_interfaces() final

A non-chainable controller doesn’t export any state interfaces.

Returns:

empty list.

virtual std::vector<hardware_interface::CommandInterface::SharedPtr> export_reference_interfaces() final

Controller has no reference interfaces.

Returns:

empty list.

virtual bool set_chained_mode(bool chained_mode) final

Controller is not chainable, therefore no chained mode can be set.

Returns:

false.

virtual bool is_in_chained_mode() const final

Controller can not be in chained mode.

Returns:

false.