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.
void	getControllersList (std::vector< std::string > &names) override
	Read all managed controllers from discovered interfaces.
void	getActiveControllers (std::vector< std::string > &names) override
	Read all active, managed controllers from discovered interfaces.
void	getControllerJoints (const std::string &name, std::vector< std::string > &joints) override
	Find appropriate interface and delegate joints query.
ControllerState	getControllerState (const std::string &name) override
	Find appropriate interface and delegate state query.
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.
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.
virtual	~MoveItControllerManager ()

Detailed Description

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

Definition at line 538 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 635 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 602 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 652 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 619 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 669 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	vector of controllers to be activated
deactivate	vector of controllers to be deactivated

Returns

true if switching succeeded

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 688 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