Class ControllerBase
Defined in File controller_base.hpp
Class Documentation
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class ControllerBase
Public Functions
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inline ControllerBase()
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inline virtual void ownInitialize()
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virtual void updateState(const geometry_msgs::msg::PoseStamped &pose_msg, const geometry_msgs::msg::TwistStamped &twist_msg) = 0
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inline virtual void updateReference(const geometry_msgs::msg::PoseStamped &ref)
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inline virtual void updateReference(const geometry_msgs::msg::TwistStamped &ref)
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inline virtual void updateReference(const as2_msgs::msg::TrajectoryPoint &ref)
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virtual bool computeOutput(double dt, geometry_msgs::msg::PoseStamped &pose, geometry_msgs::msg::TwistStamped &twist, as2_msgs::msg::Thrust &thrust) = 0
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virtual bool setMode(const as2_msgs::msg::ControlMode &mode_in, const as2_msgs::msg::ControlMode &mode_out) = 0
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virtual bool updateParams(const std::vector<std::string> &_params_list) = 0
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virtual void reset() = 0
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inline virtual std::string getDesiredPoseFrameId()
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inline virtual std::string getDesiredTwistFrameId()
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inline virtual ~ControllerBase()
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inline ControllerBase()