moveit_simple_controller_manager::ActionBasedControllerHandleBase Class Reference

#include <action_based_controller_handle.h>

Inheritance diagram for moveit_simple_controller_manager::ActionBasedControllerHandleBase:

Collaboration diagram for moveit_simple_controller_manager::ActionBasedControllerHandleBase:

Public Member Functions
	ActionBasedControllerHandleBase (const std::string &name, const std::string &logger_name)
virtual void	addJoint (const std::string &name)=0
virtual void	getJoints (std::vector< std::string > &joints)=0
Public Member Functions inherited from moveit_controller_manager::MoveItControllerHandle
	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
const rclcpp::Logger	logger_
Protected Attributes inherited from moveit_controller_manager::MoveItControllerHandle
std::string	name_

Detailed Description

Definition at line 53 of file action_based_controller_handle.h.

Constructor & Destructor Documentation

ActionBasedControllerHandleBase()

moveit_simple_controller_manager::ActionBasedControllerHandleBase::ActionBasedControllerHandleBase ( const std::string &  name, const std::string &  logger_name  )

inline

Definition at line 56 of file action_based_controller_handle.h.

Member Function Documentation

addJoint()

virtual void moveit_simple_controller_manager::ActionBasedControllerHandleBase::addJoint ( const std::string &  name )

pure virtual

Implemented in 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 >.

getJoints()

virtual void moveit_simple_controller_manager::ActionBasedControllerHandleBase::getJoints ( std::vector< std::string > &  joints )

pure virtual

Implemented in 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

logger_

const rclcpp::Logger moveit_simple_controller_manager::ActionBasedControllerHandleBase::logger_

protected

Definition at line 69 of file action_based_controller_handle.h.

---

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

• moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h