moveit_simple_controller_manager::MoveItSimpleControllerManager Class Reference

Inheritance diagram for moveit_simple_controller_manager::MoveItSimpleControllerManager:

Collaboration diagram for moveit_simple_controller_manager::MoveItSimpleControllerManager:

Public Member Functions
	MoveItSimpleControllerManager ()=default
	~MoveItSimpleControllerManager () override=default
void	initialize (const rclcpp::Node::SharedPtr &node) override
moveit_controller_manager::MoveItControllerHandlePtr	getControllerHandle (const std::string &name) override
	Return a given named controller.
void	getControllersList (std::vector< std::string > &names) override
	Get the list of known controller names.
void	getActiveControllers (std::vector< std::string > &names) override
	Get the list of active controllers.
virtual void	getLoadedControllers (std::vector< std::string > &names)
void	getControllerJoints (const std::string &name, std::vector< std::string > &joints) override
	Report the joints a controller operates on, given the controller name.
moveit_controller_manager::MoveItControllerManager::ControllerState	getControllerState (const std::string &name) override
	Report the state of a controller, given its name.
bool	switchControllers (const std::vector< std::string > &, const std::vector< std::string > &) override
	Activate and deactivate controllers.
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 ()

Protected Attributes
rclcpp::Node::SharedPtr	node_
std::map< std::string, ActionBasedControllerHandleBasePtr >	controllers_
std::map< std::string, moveit_controller_manager::MoveItControllerManager::ControllerState >	controller_states_

Detailed Description

Definition at line 95 of file moveit_simple_controller_manager.cpp.

Constructor & Destructor Documentation

MoveItSimpleControllerManager()

moveit_simple_controller_manager::MoveItSimpleControllerManager::MoveItSimpleControllerManager ( )

default

~MoveItSimpleControllerManager()

moveit_simple_controller_manager::MoveItSimpleControllerManager::~MoveItSimpleControllerManager ( )

overridedefault

Member Function Documentation

getActiveControllers()

void moveit_simple_controller_manager::MoveItSimpleControllerManager::getActiveControllers ( std::vector< std::string > &  names )

inlineoverridevirtual

Get the list of active controllers.

If there is only one controller in the system, this will be active. When multiple controllers exist, and they operate on overlapping sets of joints, not all controllers should be active at the same time.

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 281 of file moveit_simple_controller_manager.cpp.

Here is the call graph for this function:

getControllerHandle()

moveit_controller_manager::MoveItControllerHandlePtr moveit_simple_controller_manager::MoveItSimpleControllerManager::getControllerHandle ( const std::string &  name )

inlineoverridevirtual

Return a given named controller.

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 252 of file moveit_simple_controller_manager.cpp.

getControllerJoints()

void moveit_simple_controller_manager::MoveItSimpleControllerManager::getControllerJoints ( const std::string &  name, std::vector< std::string > &  joints  )

inlineoverridevirtual

Report the joints a controller operates on, given the controller name.

In order to decide which controller to use, it is necessary to reason about the joints a controller operates on.

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 297 of file moveit_simple_controller_manager.cpp.

getControllersList()

void moveit_simple_controller_manager::MoveItSimpleControllerManager::getControllersList ( std::vector< std::string > &  names )

inlineoverridevirtual

Get the list of known controller names.

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 269 of file moveit_simple_controller_manager.cpp.

Here is the caller graph for this function:

getControllerState()

moveit_controller_manager::MoveItControllerManager::ControllerState moveit_simple_controller_manager::MoveItSimpleControllerManager::getControllerState ( const std::string &  name )

inlineoverridevirtual

Report the state of a controller, given its name.

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 315 of file moveit_simple_controller_manager.cpp.

getLoadedControllers()

virtual void moveit_simple_controller_manager::MoveItSimpleControllerManager::getLoadedControllers ( std::vector< std::string > &  names )

inlinevirtual

Definition at line 289 of file moveit_simple_controller_manager.cpp.

Here is the call graph for this function:

initialize()

void moveit_simple_controller_manager::MoveItSimpleControllerManager::initialize ( const rclcpp::Node::SharedPtr &  node )

inlineoverridevirtual

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 102 of file moveit_simple_controller_manager.cpp.

switchControllers()

bool moveit_simple_controller_manager::MoveItSimpleControllerManager::switchControllers ( const std::vector< std::string > &  activate, const std::vector< std::string > &  deactivate  )

inlineoverridevirtual

Activate and deactivate controllers.

Implements moveit_controller_manager::MoveItControllerManager.

Definition at line 321 of file moveit_simple_controller_manager.cpp.

Member Data Documentation

controller_states_

std::map<std::string, moveit_controller_manager::MoveItControllerManager::ControllerState> moveit_simple_controller_manager::MoveItSimpleControllerManager::controller_states_

protected

Definition at line 330 of file moveit_simple_controller_manager.cpp.

controllers_

std::map<std::string, ActionBasedControllerHandleBasePtr> moveit_simple_controller_manager::MoveItSimpleControllerManager::controllers_

protected

Definition at line 329 of file moveit_simple_controller_manager.cpp.

node_

rclcpp::Node::SharedPtr moveit_simple_controller_manager::MoveItSimpleControllerManager::node_

protected

Definition at line 328 of file moveit_simple_controller_manager.cpp.

---

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

• moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp