controller_interface::ControllerInterface Class Reference

Inheritance diagram for controller_interface::ControllerInterface:

Collaboration diagram for controller_interface::ControllerInterface:

Public Member Functions
CONTROLLER_INTERFACE_PUBLIC bool	is_chainable () const final
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::StateInterface::ConstSharedPtr >	export_state_interfaces () final
CONTROLLER_INTERFACE_PUBLIC std::vector< hardware_interface::CommandInterface::SharedPtr >	export_reference_interfaces () final
CONTROLLER_INTERFACE_PUBLIC bool	set_chained_mode (bool chained_mode) final
CONTROLLER_INTERFACE_PUBLIC bool	is_in_chained_mode () const final
Public Member Functions inherited from controller_interface::ControllerInterfaceBase
virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration	command_interface_configuration () const =0
	Get configuration for controller's required command interfaces. More...
virtual CONTROLLER_INTERFACE_PUBLIC InterfaceConfiguration	state_interface_configuration () const =0
	Get configuration for controller's required state interfaces. More...
virtual CONTROLLER_INTERFACE_PUBLIC 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. More...
virtual CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
	Method that releases the Loaned interfaces from the controller. More...
CONTROLLER_INTERFACE_PUBLIC 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)
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.
virtual CONTROLLER_INTERFACE_PUBLIC CallbackReturn	on_init ()=0
	Extending interface with initialization method which is individual for each controller.
virtual CONTROLLER_INTERFACE_PUBLIC return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period)=0
CONTROLLER_INTERFACE_PUBLIC ControllerUpdateStatus	trigger_update (const rclcpp::Time &time, const rclcpp::Duration &period)
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp_lifecycle::LifecycleNode >	get_node ()
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< const rclcpp_lifecycle::LifecycleNode >	get_node () const
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_lifecycle_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const
CONTROLLER_INTERFACE_PUBLIC bool	is_async () const
CONTROLLER_INTERFACE_PUBLIC const std::string &	get_robot_description () const
virtual CONTROLLER_INTERFACE_PUBLIC 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. More...
CONTROLLER_INTERFACE_PUBLIC void	wait_for_trigger_update_to_finish ()

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

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