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| GZResourceManager (rclcpp::Node::SharedPtr &node, sim::EntityComponentManager &ecm, std::map< std::string, sim::Entity > enabledJoints) |
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| GZResourceManager (const GZResourceManager &)=delete |
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bool | load_and_initialize_components (const std::string &urdf, unsigned int update_rate) override |
| Load resources from on a given URDF. More...
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| ResourceManager (rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface) |
| Default constructor for the Resource Manager.
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| ResourceManager (const std::string &urdf, rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_interface, bool activate_all=false, const unsigned int update_rate=100) |
| Constructor for the Resource Manager. More...
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| ResourceManager (const ResourceManager &)=delete |
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bool | are_components_initialized () const |
| if the resource manager load_and_initialize_components(...) function has been called this returns true. We want to permit to loading the urdf later on, but we currently don't want to permit multiple calls to load_and_initialize_components (reloading/loading different urdf). More...
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LoanedStateInterface | claim_state_interface (const std::string &key) |
| Claim a state interface given its key. More...
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std::vector< std::string > | state_interface_keys () const |
| Returns all registered state interfaces keys. More...
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std::vector< std::string > | available_state_interfaces () const |
| Returns all available state interfaces keys. More...
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bool | state_interface_is_available (const std::string &name) const |
| Checks whether a state interface is available under the given key. More...
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void | import_controller_exported_state_interfaces (const std::string &controller_name, std::vector< StateInterface::ConstSharedPtr > &interfaces) |
| Add controllers' exported state interfaces to resource manager. More...
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std::vector< std::string > | get_controller_exported_state_interface_names (const std::string &controller_name) |
| Get list of exported tate interface of a controller. More...
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void | make_controller_exported_state_interfaces_available (const std::string &controller_name) |
| Add controller's exported state interfaces to available list. More...
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void | make_controller_exported_state_interfaces_unavailable (const std::string &controller_name) |
| Remove controller's exported state interface to available list. More...
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void | remove_controller_exported_state_interfaces (const std::string &controller_name) |
| Remove controllers exported state interfaces from resource manager. More...
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void | import_controller_reference_interfaces (const std::string &controller_name, const std::vector< hardware_interface::CommandInterface::SharedPtr > &interfaces) |
| Add controllers' reference interfaces to resource manager. More...
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std::vector< std::string > | get_controller_reference_interface_names (const std::string &controller_name) |
| Get list of reference interface of a controller. More...
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void | make_controller_reference_interfaces_available (const std::string &controller_name) |
| Add controller's reference interface to available list. More...
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void | make_controller_reference_interfaces_unavailable (const std::string &controller_name) |
| Remove controller's reference interface to available list. More...
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void | remove_controller_reference_interfaces (const std::string &controller_name) |
| Remove controllers reference interfaces from resource manager. More...
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void | cache_controller_to_hardware (const std::string &controller_name, const std::vector< std::string > &interfaces) |
| Cache mapping between hardware and controllers using it. More...
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std::vector< std::string > | get_cached_controllers_to_hardware (const std::string &hardware_name) |
| Return cached controllers for a specific hardware. More...
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bool | command_interface_is_claimed (const std::string &key) const |
| Checks whether a command interface is already claimed. More...
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LoanedCommandInterface | claim_command_interface (const std::string &key) |
| Claim a command interface given its key. More...
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std::vector< std::string > | command_interface_keys () const |
| Returns all registered command interfaces keys. More...
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std::vector< std::string > | available_command_interfaces () const |
| Returns all available command interfaces keys. More...
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bool | command_interface_is_available (const std::string &interface) const |
| Checks whether a command interface is available under the given name. More...
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size_t | actuator_components_size () const |
| Return the number size_t of loaded actuator components. More...
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size_t | sensor_components_size () const |
| Return the number of loaded sensor components. More...
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size_t | system_components_size () const |
| Return the number of loaded system components. More...
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void | import_component (std::unique_ptr< ActuatorInterface > actuator, const HardwareInfo &hardware_info) |
| Import a hardware component which is not listed in the URDF. More...
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void | import_component (std::unique_ptr< SensorInterface > sensor, const HardwareInfo &hardware_info) |
| Import a hardware component which is not listed in the URDF. More...
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void | import_component (std::unique_ptr< SystemInterface > system, const HardwareInfo &hardware_info) |
| Import a hardware component which is not listed in the URDF. More...
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std::unordered_map< std::string, HardwareComponentInfo > | get_components_status () |
| Return status for all components. More...
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bool | prepare_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) |
| Prepare the hardware components for a new command interface mode. More...
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bool | perform_command_mode_switch (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces) |
| Notify the hardware components that realtime hardware mode switching should occur. More...
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return_type | set_component_state (const std::string &component_name, rclcpp_lifecycle::State &target_state) |
| Sets state of hardware component. More...
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void | shutdown_async_components () |
| Deletes all async components from the resource storage. More...
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HardwareReadWriteStatus | read (const rclcpp::Time &time, const rclcpp::Duration &period) |
| Reads all loaded hardware components. More...
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HardwareReadWriteStatus | write (const rclcpp::Time &time, const rclcpp::Duration &period) |
| Write all loaded hardware components. More...
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bool | command_interface_exists (const std::string &key) const |
| Checks whether a command interface is registered under the given key. More...
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bool | state_interface_exists (const std::string &key) const |
| Checks whether a state interface is registered under the given key. More...
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