orwell::ControllerManager< dof > Class Template Reference

manages available controllers More...

#include <ControllerManager.hpp>

Inheritance diagram for orwell::ControllerManager< dof >:

Public Member Functions
	ControllerManager (const sackmesser::Interface::Ptr &interface, const typename RobotModel< dof >::Ptr &robot_model, const std::string &name="controller_manager")
	loads configuration parameters
TorqueController< dof >::Ptr	getTorqueController (const std::string &name)
	obtain a specific TorqueController
VelocityController< dof >::Ptr	getVelocityController (const std::string &name)
	obtain a specific VelocityController
PositionController< dof >::Ptr	getPositionController (const std::string &name)
	obtain a specific PositionController

Detailed Description

template<int dof>
class orwell::ControllerManager< dof >

manages available controllers

Template Parameters

dof	numbers of degrees of freedom of the controlled system

Definition at line 28 of file ParallelController.hpp.

Constructor & Destructor Documentation

ControllerManager()

template<int dof>

orwell::ControllerManager< dof >::ControllerManager	(	const sackmesser::Interface::Ptr &	interface,
		const typename RobotModel< dof >::Ptr &	robot_model,
		const std::string &	name = "controller_manager" )

loads configuration parameters

Parameters

interface	interfaces the configuration server
robot_model	RobotModel of the controlled system
name	parameter namespace

Definition at line 32 of file ControllerManager.hxx.

      : TorqueController<dof>::SharedGroup(interface, name + "/torque_controller"),      //
        VelocityController<dof>::SharedGroup(interface, name + "/velocity_controller"),  //
        PositionController<dof>::SharedGroup(interface, name + "/position_controller"),  //
        robot_model_(robot_model)
    {
        TorqueController<dof>::SharedGroup::forEach(
          [this](typename TorqueController<dof>::Ptr controller) { controller->setRobotModel(robot_model_); });
 
        VelocityController<dof>::SharedGroup::forEach(
          [this](typename VelocityController<dof>::Ptr controller) { controller->setRobotModel(robot_model_); });
    }

References orwell::Controller< dof >::setRobotModel().

Member Function Documentation

getPositionController()

template<int dof>

PositionController< dof >::Ptr orwell::ControllerManager< dof >::getPositionController

(

const std::string &

name

)

obtain a specific PositionController

Parameters

name	name of the PositionController

Returns

PositionController

Definition at line 62 of file ControllerManager.hxx.

    {
        return PositionController<dof>::SharedGroup::get(name);
    }

getTorqueController()

template<int dof>

TorqueController< dof >::Ptr orwell::ControllerManager< dof >::getTorqueController

(

const std::string &

name

)

obtain a specific TorqueController

Parameters

name	name of the TorqueController

Returns

TorqueController

Definition at line 50 of file ControllerManager.hxx.

    {
        return TorqueController<dof>::SharedGroup::get(name);
    }

getVelocityController()

template<int dof>

VelocityController< dof >::Ptr orwell::ControllerManager< dof >::getVelocityController

(

const std::string &

name

)

obtain a specific VelocityController

Parameters

name	name of the VelocityController

Returns

VelocityController

Definition at line 56 of file ControllerManager.hxx.

    {
        return VelocityController<dof>::SharedGroup::get(name);
    }

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

• ControllerManager.hpp
• ParallelController.hpp
• ControllerManager.hxx