moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | List of all members
test_moveit_controller_manager::TestMoveItControllerHandle Class Reference

#include <test_moveit_controller_manager.h>

Inheritance diagram for test_moveit_controller_manager::TestMoveItControllerHandle:
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Public Member Functions

 TestMoveItControllerHandle (const std::string &name)
 
bool sendTrajectory (const moveit_msgs::msg::RobotTrajectory &) override
 Send a trajectory to the controller.
 
bool cancelExecution () override
 Cancel the execution of any motion using this controller.
 
bool waitForExecution (const rclcpp::Duration &timeout=rclcpp::Duration(0.0)) override
 Wait for the current execution to complete, or until the timeout is reached.
 
moveit_controller_manager::ExecutionStatus getLastExecutionStatus () override
 Return the execution status of the last trajectory sent to the controller.
 
- 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.
 

Additional Inherited Members

- Protected Attributes inherited from moveit_controller_manager::MoveItControllerHandle
std::string name_
 

Detailed Description

Definition at line 46 of file test_moveit_controller_manager.h.

Constructor & Destructor Documentation

◆ TestMoveItControllerHandle()

test_moveit_controller_manager::TestMoveItControllerHandle::TestMoveItControllerHandle ( const std::string &  name)
inline

Definition at line 49 of file test_moveit_controller_manager.h.

Member Function Documentation

◆ cancelExecution()

bool test_moveit_controller_manager::TestMoveItControllerHandle::cancelExecution ( )
inlineoverridevirtual

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.

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 58 of file test_moveit_controller_manager.h.

◆ getLastExecutionStatus()

moveit_controller_manager::ExecutionStatus test_moveit_controller_manager::TestMoveItControllerHandle::getLastExecutionStatus ( )
inlineoverridevirtual

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

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 69 of file test_moveit_controller_manager.h.

◆ sendTrajectory()

bool test_moveit_controller_manager::TestMoveItControllerHandle::sendTrajectory ( const moveit_msgs::msg::RobotTrajectory &  trajectory)
inlineoverridevirtual

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.

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 53 of file test_moveit_controller_manager.h.

◆ waitForExecution()

bool test_moveit_controller_manager::TestMoveItControllerHandle::waitForExecution ( const rclcpp::Duration &  timeout = rclcpp::Duration(0.0))
inlineoverridevirtual

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).

Implements moveit_controller_manager::MoveItControllerHandle.

Definition at line 63 of file test_moveit_controller_manager.h.


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