moveit_setup::controllers::Controllers Class Reference

#include <controllers.hpp>

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Public Member Functions
virtual std::string	getInstructions () const =0
virtual std::string	getButtonText () const =0
virtual std::vector< std::string >	getAvailableTypes () const =0
virtual std::string	getDefaultType () const =0
virtual FieldPointers	getAdditionalControllerFields () const
	Define the types of controller fields for the specific types of controllers. More...
bool	isReady () const override
	Return true if the data necessary to proceed with this step has been configured. More...
const std::vector< std::string > &	getJointNames () const
std::vector< std::string >	getGroupNames () const
std::string	getChildOfJoint (const std::string &joint_name) const
std::vector< ControllerInfo > &	getControllers () const
bool	addController (const ControllerInfo &new_controller)
ControllerInfo *	findControllerByName (const std::string &controller_name)
bool	deleteController (const std::string &controller_name)
bool	addDefaultControllers ()
std::vector< std::string >	getJointsFromGroups (const std::vector< std::string > &group_names) const
Public Member Functions inherited from moveit_setup::SetupStep
	SetupStep ()=default
	SetupStep (const SetupStep &)=default
	SetupStep (SetupStep &&)=default
SetupStep &	operator= (const SetupStep &)=default
SetupStep &	operator= (SetupStep &&)=default
virtual	~SetupStep ()=default
void	initialize (const rclcpp::Node::SharedPtr &parent_node, const DataWarehousePtr &config_data)
	Called after construction to initialize the step. More...
virtual void	onInit ()
	Overridable initialization method. More...
virtual std::string	getName () const =0
	Returns the name of the setup step. More...
const rclcpp::Logger &	getLogger () const
	Makes a namespaced logger for this step available to the widget. More...

Protected Attributes
std::shared_ptr< SRDFConfig >	srdf_config_
std::shared_ptr< ControllersConfig >	controllers_config_
Protected Attributes inherited from moveit_setup::SetupStep
DataWarehousePtr	config_data_
rclcpp::Node::SharedPtr	parent_node_
std::shared_ptr< rclcpp::Logger >	logger_

Detailed Description

Definition at line 79 of file controllers.hpp.

Member Function Documentation

addController()

bool moveit_setup::controllers::Controllers::addController ( const ControllerInfo &  new_controller )

inline

Definition at line 123 of file controllers.hpp.

addDefaultControllers()

bool moveit_setup::controllers::Controllers::addDefaultControllers

(

)

Definition at line 46 of file controllers.cpp.

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deleteController()

bool moveit_setup::controllers::Controllers::deleteController ( const std::string &  controller_name )

inline

Definition at line 133 of file controllers.hpp.

findControllerByName()

ControllerInfo* moveit_setup::controllers::Controllers::findControllerByName ( const std::string &  controller_name )

inline

Definition at line 128 of file controllers.hpp.

getAdditionalControllerFields()

virtual FieldPointers moveit_setup::controllers::Controllers::getAdditionalControllerFields ( ) const

inlinevirtual

Define the types of controller fields for the specific types of controllers.

Reimplemented in moveit_setup::controllers::MoveItControllers.

Definition at line 93 of file controllers.hpp.

getAvailableTypes()

virtual std::vector<std::string> moveit_setup::controllers::Controllers::getAvailableTypes ( ) const

pure virtual

Implemented in moveit_setup::controllers::ROS2Controllers, and moveit_setup::controllers::MoveItControllers.

getButtonText()

virtual std::string moveit_setup::controllers::Controllers::getButtonText ( ) const

pure virtual

Implemented in moveit_setup::controllers::ROS2Controllers, and moveit_setup::controllers::MoveItControllers.

getChildOfJoint()

std::string moveit_setup::controllers::Controllers::getChildOfJoint ( const std::string &  joint_name ) const

inline

Definition at line 113 of file controllers.hpp.

getControllers()

std::vector<ControllerInfo>& moveit_setup::controllers::Controllers::getControllers ( ) const

inline

Definition at line 118 of file controllers.hpp.

getDefaultType()

virtual std::string moveit_setup::controllers::Controllers::getDefaultType ( ) const

pure virtual

Implemented in moveit_setup::controllers::ROS2Controllers, and moveit_setup::controllers::MoveItControllers.

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getGroupNames()

std::vector<std::string> moveit_setup::controllers::Controllers::getGroupNames ( ) const

inline

Definition at line 108 of file controllers.hpp.

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getInstructions()

virtual std::string moveit_setup::controllers::Controllers::getInstructions ( ) const

pure virtual

Implemented in moveit_setup::controllers::ROS2Controllers, and moveit_setup::controllers::MoveItControllers.

getJointNames()

const std::vector<std::string>& moveit_setup::controllers::Controllers::getJointNames ( ) const

inline

Definition at line 103 of file controllers.hpp.

getJointsFromGroups()

std::vector< std::string > moveit_setup::controllers::Controllers::getJointsFromGroups

(

const std::vector< std::string > &

group_names

)

const

Definition at line 71 of file controllers.cpp.

isReady()

bool moveit_setup::controllers::Controllers::isReady ( ) const

inlineoverridevirtual

Return true if the data necessary to proceed with this step has been configured.

Reimplemented from moveit_setup::SetupStep.

Definition at line 98 of file controllers.hpp.

Member Data Documentation

controllers_config_

std::shared_ptr<ControllersConfig> moveit_setup::controllers::Controllers::controllers_config_

protected

Definition at line 144 of file controllers.hpp.

srdf_config_

std::shared_ptr<SRDFConfig> moveit_setup::controllers::Controllers::srdf_config_

protected

Definition at line 143 of file controllers.hpp.

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

• moveit_setup_assistant/moveit_setup_controllers/include/moveit_setup_controllers/controllers.hpp
• moveit_setup_assistant/moveit_setup_controllers/src/controllers.cpp