Creates to ROS topics to listen to the incoming messages. More...

Inheritance diagram for HLR::Simulation::AbstractController:

Collaboration diagram for HLR::Simulation::AbstractController:

Protected Member Functions
	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 void	parse_message (const std::string &message)=0
	This function parses the message. More...

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
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.

Additional Inherited Members

Detailed Description

Creates to ROS topics to listen to the incoming messages.

HLR::Simulation::AbstractController::AbstractController	(	const std::string &	request_topic,
		const std::string &	respond_topic,
		const std::string &	robot_description
	)

protected

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

virtual bool HLR::Simulation::AbstractController::arm_is_moving ( )

protectedvirtual

Can be used to checks of any of the servos are moving Can be used to checks of any of the servos are moving.

Returns: true True if none of the servos are moving; false False if any of the servos are moving

virtual void HLR::Simulation::AbstractController::parse_message ( const std::string & message )

protectedpure virtual

This function parses the message.

Parameters

message Incoming message to parse

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