test_moveit_controller_manager::TestMoveItControllerHandle Class Reference

#include <test_moveit_controller_manager.h>

Inheritance diagram for test_moveit_controller_manager::TestMoveItControllerHandle:

Collaboration diagram for test_moveit_controller_manager::TestMoveItControllerHandle:

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.

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

• moveit_ros/planning/trajectory_execution_manager/test/test_moveit_controller_manager.h