moveit_ros_control_interface::Ros2ControlMultiManager Class Reference

Ros2ControlMultiManager discovers all running ros_control node and delegates member function to the corresponding Ros2ControlManager instances. More...

Inheritance diagram for moveit_ros_control_interface::Ros2ControlMultiManager:

Collaboration diagram for moveit_ros_control_interface::Ros2ControlMultiManager:

Public Member Functions
moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name) override
	Find appropriate interface and delegate handle creation. More...
void	getControllersList (std::vector< std::string > &names) override
	Read all managed controllers from discovered interfaces. More...
void	getActiveControllers (std::vector< std::string > &names) override
	Read all active, managed controllers from discovered interfaces. More...
void	getControllerJoints (const std::string &name, std::vector< std::string > &joints) override
	Find appropriate interface and delegate joints query. More...
ControllerState	getControllerState (const std::string &name) override
	Find appropriate interface and delegate state query. More...
bool	switchControllers (const std::vector< std::string > &activate, const std::vector< std::string > &deactivate) override
	delegates switch to all known interfaces. Stops on first failing switch. More...
Public Member Functions inherited from moveit_controller_manager::MoveItControllerManager
	MoveItControllerManager ()
	Default constructor. This needs to have no arguments so that the plugin system can construct the object. More...
virtual	~MoveItControllerManager ()

Detailed Description

Ros2ControlMultiManager discovers all running ros_control node and delegates member function to the corresponding Ros2ControlManager instances.

Definition at line 594 of file controller_manager_plugin.cpp.

Member Function Documentation

getActiveControllers()

void moveit_ros_control_interface::Ros2ControlMultiManager::getActiveControllers ( std::vector< std::string > &  names )

inlineoverridevirtual

Read all active, managed controllers from discovered interfaces.

Parameters

names

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 691 of file controller_manager_plugin.cpp.

getControllerHandle()

moveit_controller_manager::MoveItControllerHandlePtr moveit_ros_control_interface::Ros2ControlMultiManager::getControllerHandle ( const std::string &  name )

inlineoverridevirtual

Find appropriate interface and delegate handle creation.

Parameters

name

Returns

handle

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 658 of file controller_manager_plugin.cpp.

getControllerJoints()

void moveit_ros_control_interface::Ros2ControlMultiManager::getControllerJoints ( const std::string &  name, std::vector< std::string > &  joints  )

inlineoverridevirtual

Find appropriate interface and delegate joints query.

Parameters

name
joints

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 708 of file controller_manager_plugin.cpp.

getControllersList()

void moveit_ros_control_interface::Ros2ControlMultiManager::getControllersList ( std::vector< std::string > &  names )

inlineoverridevirtual

Read all managed controllers from discovered interfaces.

Parameters

names

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 675 of file controller_manager_plugin.cpp.

getControllerState()

ControllerState moveit_ros_control_interface::Ros2ControlMultiManager::getControllerState ( const std::string &  name )

inlineoverridevirtual

Find appropriate interface and delegate state query.

Parameters

name

Returns

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 725 of file controller_manager_plugin.cpp.

switchControllers()

bool moveit_ros_control_interface::Ros2ControlMultiManager::switchControllers ( const std::vector< std::string > &  activate, const std::vector< std::string > &  deactivate  )

inlineoverridevirtual

delegates switch to all known interfaces. Stops on first failing switch.

Parameters

activate
deactivate

Returns

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 744 of file controller_manager_plugin.cpp.

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

• moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp