motion::control::controller_common_nodes::ControllerBaseNode Class Reference

#include <controller_base_node.hpp>

Inheritance diagram for motion::control::controller_common_nodes::ControllerBaseNode:

Collaboration diagram for motion::control::controller_common_nodes::ControllerBaseNode:

Public Member Functions
	ControllerBaseNode (const std::string &name, const std::string &ns)
	Parameter file constructor. More...
	ControllerBaseNode (const std::string &name, const std::string &ns, const std::string &command_topic, const std::string &state_topic, const std::string &tf_topic, const std::string &trajectory_topic, const std::string &diagnostic_topic, const std::string &static_tf_topic="static_tf")
	Explicit constructor. More...
virtual	~ControllerBaseNode () noexcept=default

Protected Member Functions
void	set_controller (ControllerPtr &&controller) noexcept
	Child class should call this to set the controller. More...
virtual void	on_bad_trajectory (std::exception_ptr eptr)
virtual void	on_bad_compute (std::exception_ptr eptr)
void	publish (const Command &msg)
	Expose publishing in case a child class wants to do something during error handling. More...

Constructor & Destructor Documentation

ControllerBaseNode() [1/2]

motion::control::controller_common_nodes::ControllerBaseNode::ControllerBaseNode	(	const std::string &	name,
		const std::string &	ns
	)

Parameter file constructor.

ControllerBaseNode() [2/2]

motion::control::controller_common_nodes::ControllerBaseNode::ControllerBaseNode	(	const std::string &	name,
		const std::string &	ns,
		const std::string &	command_topic,
		const std::string &	state_topic,
		const std::string &	tf_topic,
		const std::string &	trajectory_topic,
		const std::string &	diagnostic_topic,
		const std::string &	static_tf_topic = "static_tf"
	)

Explicit constructor.

~ControllerBaseNode()

virtual motion::control::controller_common_nodes::ControllerBaseNode::~ControllerBaseNode ( )

virtualdefaultnoexcept

Member Function Documentation

on_bad_compute()

void motion::control::controller_common_nodes::ControllerBaseNode::on_bad_compute ( std::exception_ptr  eptr )

protectedvirtual

Handles errors thrown by compute_command_impl(), or std::domain_error due to empty trajectories

on_bad_trajectory()

void motion::control::controller_common_nodes::ControllerBaseNode::on_bad_trajectory ( std::exception_ptr  eptr )

protectedvirtual

Handles errors thrown by either check_new_trajectory(), handle_new_trajectory() or the std::domain_error from set_trajectory()

publish()

void motion::control::controller_common_nodes::ControllerBaseNode::publish ( const Command &  msg )

protected

Expose publishing in case a child class wants to do something during error handling.

set_controller()

void motion::control::controller_common_nodes::ControllerBaseNode::set_controller ( ControllerPtr &&  controller )

protectednoexcept

Child class should call this to set the controller.

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

• controller_base_node.hpp
• controller_base_node.cpp