semantic_components::SemanticComponentInterface< MessageReturnType > Class Template Reference

Public Member Functions
	SemanticComponentInterface (const std::string &name, const std::vector< std::string > &interface_names)
	SemanticComponentInterface (const std::string &name, std::size_t size=0)
bool	assign_loaned_state_interfaces (std::vector< hardware_interface::LoanedStateInterface > &state_interfaces)
	Assign loaned state interfaces from the hardware. More...
void	release_interfaces ()
	Release loaned interfaces from the hardware.
virtual std::vector< std::string >	get_state_interface_names ()
	Definition of state interface names for the component. More...
bool	get_values (std::vector< double > &values) const
	Return all values. More...
bool	get_values_as_message (MessageReturnType &)
	Return values as MessageReturnType. More...

Protected Attributes
std::string	name_
std::vector< std::string >	interface_names_
std::vector< std::reference_wrapper< hardware_interface::LoanedStateInterface > >	state_interfaces_

Member Function Documentation

assign_loaned_state_interfaces()

template<typename MessageReturnType >

bool semantic_components::SemanticComponentInterface< MessageReturnType >::assign_loaned_state_interfaces ( std::vector< hardware_interface::LoanedStateInterface > &  state_interfaces )

inline

Assign loaned state interfaces from the hardware.

Assign loaned state interfaces on the controller start.

Parameters

[in]

state_interfaces

vector of interfaces provided by the controller.

get_state_interface_names()

template<typename MessageReturnType >

virtual std::vector<std::string> semantic_components::SemanticComponentInterface< MessageReturnType >::get_state_interface_names ( )

inlinevirtual

Definition of state interface names for the component.

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

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

Returns

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

get_values()

template<typename MessageReturnType >

bool semantic_components::SemanticComponentInterface< MessageReturnType >::get_values ( std::vector< double > &  values ) const

inline

Return all values.

Returns

true if it gets all the values, else false

get_values_as_message()

template<typename MessageReturnType >

bool semantic_components::SemanticComponentInterface< MessageReturnType >::get_values_as_message ( MessageReturnType &  )

inline

Return values as MessageReturnType.

Returns

false by default

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

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