HLR::Simulation::MitsubishiController Class Reference

Implements the virtual functions of AbstractController. Used to parse the messages for the Mitsubishi RV-2AJ and send commands to the Gazebo simulation. More...

#include <MitsubishiController.hpp>

Inheritance diagram for HLR::Simulation::MitsubishiController:

Collaboration diagram for HLR::Simulation::MitsubishiController:

Public Member Functions
	MitsubishiController (const std::string &request_topic, const std::string &respond_topic, const std::string &robot_description="mitsubishi")
	Constructor for MitsubishiController. More...

Additional Inherited Members
Protected Member Functions inherited from HLR::Simulation::AbstractController
	AbstractController (const std::string &request_topic, const std::string &respond_topic, const std::string &robot_description)
	Constructor for AbstractController. More...
virtual void	emergency_stop ()
	This function stops the servos immediately.
virtual bool	arm_is_moving ()
	Can be used to checks of any of the servos are moving Can be used to checks of any of the servos are moving. More...
Protected Attributes inherited from HLR::Simulation::AbstractController
bool	response_available
	This should be set by the parser if a message had feedback to send back.
std::vector< VirtualServo >	servos
	The joint in a vector of servos, this should be initialized in the derived class.
urdf::Model	model
	Init in the constructor with the robor parameters loaded from the ROS param server.
std::string	response
	The feedback message to send back, should be set by the derived class.

Detailed Description

Implements the virtual functions of AbstractController. Used to parse the messages for the Mitsubishi RV-2AJ and send commands to the Gazebo simulation.

Constructor & Destructor Documentation

HLR::Simulation::MitsubishiController::MitsubishiController	(	const std::string &	request_topic,
		const std::string &	respond_topic,
		const std::string &	robot_description = "mitsubishi"
	)

Constructor for MitsubishiController.

Parameters

request_topic	Name of the request topic in ROS
respond_topic	Name of the response topic in ROS
robot_description	Name of the robot

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

• src/Simulation/MitsubishiController.hpp