moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <test_moveit_controller_manager.h>
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. | |
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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 | |
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std::string | name_ |
Definition at line 46 of file test_moveit_controller_manager.h.
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inline |
Definition at line 49 of file test_moveit_controller_manager.h.
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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.
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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.
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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.
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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.