controller_interface::ControllerInterface Class Reference

Inheritance diagram for controller_interface::ControllerInterface:

Collaboration diagram for controller_interface::ControllerInterface:

Public Member Functions
bool	is_chainable () const final
std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
bool	set_chained_mode (bool chained_mode) final
bool	is_in_chained_mode () const final
Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual InterfaceConfiguration	command_interface_configuration () const =0
	Get configuration for controller's required command interfaces.
virtual InterfaceConfiguration	state_interface_configuration () const =0
	Get configuration for controller's required state interfaces.
virtual void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
	Method that assigns the Loaned interfaces to the controller.
virtual void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller.
return_type	init (const std::string &controller_name, const std::string &urdf, unsigned int cm_update_rate, const std::string &node_namespace, const rclcpp::NodeOptions &node_options)
return_type	init (const controller_interface::ControllerInterfaceParams &params)
const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
virtual CallbackReturn	on_init ()=0
	Extending interface with initialization method which is individual for each controller.
virtual return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)=0
ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)
std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const
const rclcpp_lifecycle::State &	get_lifecycle_state () const
unsigned int	get_update_rate () const
bool	is_async () const
const std::string &	get_robot_description () const
const std::unordered_map< std::string, joint_limits::JointLimits > &	get_hard_joint_limits () const
const std::unordered_map< std::string, joint_limits::SoftJointLimits > &	get_soft_joint_limits () const
virtual rclcpp::NodeOptions	define_custom_node_options () const
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.
void	wait_for_trigger_update_to_finish ()
void	prepare_for_deactivation ()
std::string	get_name () const
void	enable_introspection (bool enable)
	Enable or disable introspection of the controller.

Additional Inherited Members
Protected Attributes inherited from controller_interface::ControllerInterfaceBase
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
pal_statistics::RegistrationsRAII	stats_registrations_

Member Function Documentation

export_reference_interfaces()

std::vector< hardware_interface::CommandInterface::SharedPtr > controller_interface::ControllerInterface::export_reference_interfaces ( )

finalvirtual

Controller has no reference interfaces.

Returns

empty list.

Implements controller_interface::ControllerInterfaceBase.

export_state_interfaces()

std::vector< hardware_interface::StateInterface::ConstSharedPtr > controller_interface::ControllerInterface::export_state_interfaces ( )

finalvirtual

A non-chainable controller doesn't export any state interfaces.

Returns

empty list.

Implements controller_interface::ControllerInterfaceBase.

is_chainable()

bool controller_interface::ControllerInterface::is_chainable ( ) const

finalvirtual

Controller is not chainable.

Returns

false.

Implements controller_interface::ControllerInterfaceBase.

is_in_chained_mode()

bool controller_interface::ControllerInterface::is_in_chained_mode ( ) const

finalvirtual

Controller can not be in chained mode.

Returns

false.

Implements controller_interface::ControllerInterfaceBase.

set_chained_mode()

bool controller_interface::ControllerInterface::set_chained_mode ( bool  chained_mode )

finalvirtual

Controller is not chainable, therefore no chained mode can be set.

Returns

false.

Implements controller_interface::ControllerInterfaceBase.

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

• ros2_control/controller_interface/include/controller_interface/controller_interface.hpp
• ros2_control/controller_interface/src/controller_interface.cpp