Inheritance diagram for motion_primitives_controllers::MotionPrimitivesBaseController:

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Collaboration diagram for motion_primitives_controllers::MotionPrimitivesBaseController:

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Public Member Functions
controller_interface::CallbackReturn	on_init () override
	Extending interface with initialization method which is individual for each controller.

controller_interface::InterfaceConfiguration	command_interface_configuration () const override
	Get configuration for controller's required command interfaces.

controller_interface::InterfaceConfiguration	state_interface_configuration () const override
	Get configuration for controller's required state interfaces.

controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override

controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override

controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override

Public Member Functions inherited from controller_interface::ControllerInterface
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 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)

const rclcpp_lifecycle::State &	configure ()
	Custom configure method to read additional parameters for controller-nodes.

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

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.

Protected Types
using	MotionPrimitive = control_msgs::msg::MotionPrimitive

Protected Member Functions
void	reset_command_interfaces ()

bool	set_command_interfaces ()

Protected Attributes
std::string	tf_prefix_

realtime_tools::LockFreeSPSCQueue< MotionPrimitive, 1024 >	moprim_queue_

std::atomic< bool >	has_active_goal_ = false

rclcpp::TimerBase::SharedPtr	goal_handle_timer_

rclcpp::Duration	action_monitor_period_ = rclcpp::Duration(std::chrono::milliseconds(20))

bool	print_error_once_ = true

std::atomic< bool >	cancel_requested_ = false

std::atomic< bool >	robot_stop_requested_ = false

bool	was_executing_ = false

ExecutionState	execution_status_

ReadyForNewPrimitive	ready_for_new_primitive_

MotionPrimitive	current_moprim_

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

◆ command_interface_configuration()

controller_interface::InterfaceConfiguration motion_primitives_controllers::MotionPrimitivesBaseController::command_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required command interfaces.

Method used by the controller_manager to get the set of command interfaces used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the command_interfaces_ member.

Returns: configuration of command interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ on_init()

controller_interface::CallbackReturn motion_primitives_controllers::MotionPrimitivesBaseController::on_init ( )

overridevirtual

Extending interface with initialization method which is individual for each controller.

Implements controller_interface::ControllerInterfaceBase.

Reimplemented in motion_primitives_controllers::MotionPrimitivesForwardController.

◆ state_interface_configuration()

controller_interface::InterfaceConfiguration motion_primitives_controllers::MotionPrimitivesBaseController::state_interface_configuration ( ) const

overridevirtual

Get configuration for controller's required state interfaces.

Method used by the controller_manager to get the set of state interface used by the controller. Each controller can use individual method to determine interface names that in simples case have the following format: <joint>/<interface>. The method is called only in inactive or active state, i.e., on_configure has to be called first. The configuration is used to check if controller can be activated and to claim interfaces from hardware. The claimed interfaces are populated in the state_interfaces_ member.

Returns: configuration of state interfaces.

Implements controller_interface::ControllerInterfaceBase.

◆ update()

controller_interface::return_type motion_primitives_controllers::MotionPrimitivesBaseController::update	(	const rclcpp::Time &	time,
		const rclcpp::Duration &	period
	)

overridevirtual

Control step update. Command interfaces are updated based on on reference inputs and current states. The method called in the (real-time) control loop.

Parameters

[in]	time	The time at the start of this control loop iteration
[in]	period	The measured time since the last control loop iteration

Returns: return_type::OK if update is successfully, otherwise return_type::ERROR.

Implements controller_interface::ControllerInterfaceBase.

Reimplemented in motion_primitives_controllers::MotionPrimitivesForwardController.

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

ros2_controllers/motion_primitives_controllers/include/motion_primitives_controllers/motion_primitives_base_controller.hpp
ros2_controllers/motion_primitives_controllers/src/motion_primitives_base_controller.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ command_interface_configuration()

◆ on_init()

◆ state_interface_configuration()

◆ update()