The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Protected Attributes | List of all members
moveit_setup::controllers::Controllers Class Referenceabstract

#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)
ControllerInfofindControllerByName (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
SetupStepoperator= (const SetupStep &)=default
SetupStepoperator= (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< SRDFConfigsrdf_config_
std::shared_ptr< ControllersConfigcontrollers_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)

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)

Definition at line 133 of file controllers.hpp.

◆ findControllerByName()

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

Definition at line 128 of file controllers.hpp.

◆ getAdditionalControllerFields()

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

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

◆ getButtonText()

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

◆ getChildOfJoint()

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

Definition at line 113 of file controllers.hpp.

◆ getControllers()

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

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

Definition at line 108 of file controllers.hpp.

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◆ getInstructions()

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

◆ getJointNames()

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

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

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_

Definition at line 144 of file controllers.hpp.

◆ srdf_config_

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

Definition at line 143 of file controllers.hpp.

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