moveit_controller_manager::MoveItControllerHandle Class Reference

MoveIt sends commands to a controller via a handle that satisfies this interface. More...

#include <controller_manager.h>

Inheritance diagram for moveit_controller_manager::MoveItControllerHandle:

Public Member Functions
	MoveItControllerHandle (const std::string &name)
	Each controller has a name. The handle is initialized with that name.
virtual	~MoveItControllerHandle ()
const std::string &	getName () const
	Get the name of the controller this handle can send commands to.
virtual bool	sendTrajectory (const moveit_msgs::msg::RobotTrajectory &trajectory)=0
	Send a trajectory to the controller.
virtual bool	cancelExecution ()=0
	Cancel the execution of any motion using this controller.
virtual bool	waitForExecution (const rclcpp::Duration &timeout=rclcpp::Duration::from_nanoseconds(-1))=0
	Wait for the current execution to complete, or until the timeout is reached.
virtual ExecutionStatus	getLastExecutionStatus ()=0
	Return the execution status of the last trajectory sent to the controller.

Protected Attributes
std::string	name_

Detailed Description

MoveIt sends commands to a controller via a handle that satisfies this interface.

Definition at line 105 of file controller_manager.h.

Constructor & Destructor Documentation

MoveItControllerHandle()

moveit_controller_manager::MoveItControllerHandle::MoveItControllerHandle ( const std::string &  name )

inline

Each controller has a name. The handle is initialized with that name.

Definition at line 109 of file controller_manager.h.

~MoveItControllerHandle()

virtual moveit_controller_manager::MoveItControllerHandle::~MoveItControllerHandle ( )

inlinevirtual

Definition at line 113 of file controller_manager.h.

Member Function Documentation

cancelExecution()

virtual bool moveit_controller_manager::MoveItControllerHandle::cancelExecution ( )

pure virtual

Cancel the execution of any motion using this controller.

Report false if canceling is not possible. If there is no execution in progress, this function is a no-op and returns true.

Implemented in moveit_simple_controller_manager::ActionBasedControllerHandle< T >, moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::FollowJointTrajectory >, moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::GripperCommand >, moveit_simple_controller_manager::EmptyControllerHandle, and test_moveit_controller_manager::TestMoveItControllerHandle.

getLastExecutionStatus()

virtual ExecutionStatus moveit_controller_manager::MoveItControllerHandle::getLastExecutionStatus ( )

pure virtual

Return the execution status of the last trajectory sent to the controller.

Implemented in moveit_simple_controller_manager::ActionBasedControllerHandle< T >, moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::FollowJointTrajectory >, moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::GripperCommand >, moveit_simple_controller_manager::EmptyControllerHandle, and test_moveit_controller_manager::TestMoveItControllerHandle.

getName()

const std::string & moveit_controller_manager::MoveItControllerHandle::getName ( ) const

inline

Get the name of the controller this handle can send commands to.

Definition at line 118 of file controller_manager.h.

sendTrajectory()

virtual bool moveit_controller_manager::MoveItControllerHandle::sendTrajectory ( const moveit_msgs::msg::RobotTrajectory &  trajectory )

pure virtual

Send a trajectory to the controller.

The controller is expected to execute the trajectory, but this function call should not block. Blocking is achievable by calling waitForExecution(). Return false when the controller cannot accept the trajectory.

Implemented in test_moveit_controller_manager::TestMoveItControllerHandle, moveit_simple_controller_manager::EmptyControllerHandle, moveit_simple_controller_manager::FollowJointTrajectoryControllerHandle, and moveit_simple_controller_manager::GripperControllerHandle.

waitForExecution()

virtual bool moveit_controller_manager::MoveItControllerHandle::waitForExecution ( const rclcpp::Duration &  timeout = rclcpp::Duration::from_nanoseconds(-1) )

pure virtual

Wait for the current execution to complete, or until the timeout is reached.

Return true if the execution is complete (whether successful or not). Return false if timeout was reached. If timeout is -1 (default argument), wait until the execution is complete (no timeout).

Implemented in moveit_simple_controller_manager::EmptyControllerHandle, test_moveit_controller_manager::TestMoveItControllerHandle, moveit_simple_controller_manager::ActionBasedControllerHandle< T >, moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::FollowJointTrajectory >, and moveit_simple_controller_manager::ActionBasedControllerHandle< control_msgs::action::GripperCommand >.

Member Data Documentation

name_

std::string moveit_controller_manager::MoveItControllerHandle::name_

protected

Definition at line 147 of file controller_manager.h.

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

• moveit_core/controller_manager/include/moveit/controller_manager/controller_manager.h