semantic_components::SemanticComponentCommandInterface< MessageInputType > Class Template Reference

Public Member Functions
	SemanticComponentCommandInterface (const std::string &name, const std::vector< std::string > &interface_names)
bool	assign_loaned_command_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &command_interfaces)
	Assign loaned command interfaces from the hardware.
void	release_interfaces ()
	Release loaned command interfaces from the hardware.
const std::vector< std::string > &	get_command_interface_names () const
	Definition of command interface names for the component.
bool	set_values (const std::vector< double > &values)
	Return all values.
virtual bool	set_values_from_message (const MessageInputType &)=0
	Set values from MessageInputType.

Protected Attributes
std::string	name_
std::vector< std::string >	interface_names_
std::vector< std::reference_wrapper< hardware_interface::LoanedCommandInterface > >	command_interfaces_

Member Function Documentation

assign_loaned_command_interfaces()

template<typename MessageInputType >

bool semantic_components::SemanticComponentCommandInterface< MessageInputType >::assign_loaned_command_interfaces ( std::vector< hardware_interface::LoanedCommandInterface > &  command_interfaces )

inline

Assign loaned command interfaces from the hardware.

Assign loaned command interfaces on the controller start.

Parameters

[in]

command_interfaces

vector of command interfaces provided by the controller.

get_command_interface_names()

template<typename MessageInputType >

const std::vector< std::string > & semantic_components::SemanticComponentCommandInterface< MessageInputType >::get_command_interface_names ( ) const

inline

Definition of command interface names for the component.

The function should be used in "command_interface_configuration()" of a controller to provide standardized command interface names semantic component.

\default Default implementation defined command interfaces as "name/NR" where NR is number from 0 to size of values;

Returns

list of strings with command interface names for the semantic component.

set_values()

template<typename MessageInputType >

bool semantic_components::SemanticComponentCommandInterface< MessageInputType >::set_values ( const std::vector< double > &  values )

inline

Return all values.

Returns

true if it gets all the values, else false (i.e., invalid size or if the method hardware_interface::LoanedCommandInterface::set_value fails).

set_values_from_message()

template<typename MessageInputType >

virtual bool semantic_components::SemanticComponentCommandInterface< MessageInputType >::set_values_from_message ( const MessageInputType &  )

pure virtual

Set values from MessageInputType.

Returns

True if all values were set successfully, false otherwise.

Implemented in semantic_components::LedRgbDevice.

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

• ros2_control/controller_interface/include/semantic_components/semantic_component_command_interface.hpp