controller_interface Namespace Reference

Classes
class	ControllerInterface
struct	InterfaceConfiguration
	Configuring what command/state interfaces to claim. More...

Typedefs
using	ControllerInterfaceSharedPtr = std::shared_ptr< ControllerInterface >

Enumerations
enum class	return_type : std::uint8_t { OK = 0 , ERROR = 1 , SUCCESS = OK }
enum class	interface_configuration_type : std::uint8_t { ALL = 0 , INDIVIDUAL = 1 , NONE = 2 }
	Indicating which interfaces are to be claimed. More...

Functions
template<typename T >
bool	get_ordered_interfaces (std::vector< T > &unordered_interfaces, const std::vector< std::string > &ordered_names, const std::string &interface_type, std::vector< std::reference_wrapper< T > > &ordered_interfaces)
	Reorder interfaces with references according to joint names or full interface names.
bool	interface_list_contains_interface_type (const std::vector< std::string > &interface_type_list, const std::string &interface_type)

Detailed Description

Author

: Denis Stogl

Enumeration Type Documentation

interface_configuration_type

enum class controller_interface::interface_configuration_type : std::uint8_t

strong

Indicating which interfaces are to be claimed.

One might either claim all available command/state interfaces, specifying a set of individual interfaces, or none at all.

Function Documentation

get_ordered_interfaces()

template<typename T >

bool controller_interface::get_ordered_interfaces	(	std::vector< T > &	unordered_interfaces,
		const std::vector< std::string > &	ordered_names,
		const std::string &	interface_type,
		std::vector< std::reference_wrapper< T > > &	ordered_interfaces
	)

Reorder interfaces with references according to joint names or full interface names.

Method to reorder and check if all expected interfaces are provided for the joint.

Parameters

[in]	unordered_interfaces	vector with loaned unordered state or command interfaces.
[in]	ordered_names	vector with ordered names to order unordered_interfaces. The valued inputs are list of joint names or interface full names. If joint names are used for ordering, interface_type specifies valid interface. If full interface names are used for ordering, interface_type should be empty string ("").
[in]	interface_type	used for ordering interfaces with respect to joint names.
[out]	ordered_interfaces	vector with ordered interfaces.

Returns

true if all interfaces or joints in ordered_names are found, otherwise false.