The JointController class represents one joint in one control mode. More...
#include <RobotAPI/components/units/RobotUnit/JointControllers/JointController.h>
Inheritance diagram for JointController:Public Member Functions | |
| virtual const std::string & | getControlMode () const |
| std::size_t | getControlModeHash () const |
| virtual const ControlTargetBase * | getControlTarget () const |
| template<class T > | |
| const T * | getControlTarget () const |
| virtual ControlTargetBase * | getControlTarget ()=0 |
| virtual std::string | getHardwareControlMode () const |
| std::size_t | getHardwareControlModeHash () const |
| ControlDevice & | getParent () const |
| virtual StringVariantBaseMap | publish (const DebugDrawerInterfacePrx &draw, const DebugObserverInterfacePrx &observer) const |
| Hook for publishing data from JointController, mainly for debugging purposes. More... | |
| std::size_t | rtGetControlModeHash () const |
| std::size_t | rtGetHardwareControlModeHash () const |
| ControlDevice & | rtGetParent () const |
| template<class T > | |
| T & | rtGetParent () const |
| virtual bool | rtIsTargetValid () const |
| virtual void | rtResetTarget () |
| virtual | ~JointController ()=default |
Protected Member Functions | |
| virtual void | rtPostDeactivateController () |
| virtual void | rtPreActivateController () |
| called when this JointController is activated More... | |
| virtual void | rtRun (const IceUtil::Time &sensorValuesTimestamp, const IceUtil::Time &timeSinceLastIteration)=0 |
| called when this JointController is run More... | |
Friends | |
| class | ControlDevice |
| called when this JointController is deactivated More... | |
Detailed Description
The JointController class represents one joint in one control mode.
It holds a ControlTargetBase. This target is used as setpoint for the controller.
Definition at line 51 of file JointController.h.
Constructor & Destructor Documentation
◆ ~JointController()
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virtualdefault |
Member Function Documentation
◆ getControlMode()
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inlinevirtual |
Reimplemented in PlatformSimulationDevice::JointStopMovementController, and PlatformSimulationDevice::JointEmergencyStopController.
Definition at line 163 of file JointController.h.
Here is the call graph for this function:◆ getControlModeHash()
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inline |
Definition at line 175 of file JointController.h.
◆ getControlTarget() [1/3]
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virtual |
◆ getControlTarget() [2/3]
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inline |
- Returns
- The JointController's ControlTarget casted to the given type (may be nullptr)
Definition at line 63 of file JointController.h.
Here is the call graph for this function:◆ getControlTarget() [3/3]
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inlinepure virtual |
Implemented in PlatformSimulationDevice::JointStopMovementController, PlatformSimulationDevice::JointEmergencyStopController, JointSimulationDevice::JointSimController< TargT >, JointSimulationDevice::JointSimController< DummyControlTargetStopMovement >, JointSimulationDevice::JointSimController< ControlTarget1DoFActuatorPosition >, JointSimulationDevice::JointSimController< ControlTarget1DoFActuatorVelocity >, JointSimulationDevice::JointSimController< DummyControlTargetEmergencyStop >, JointSimulationDevice::JointSimController< ControlTarget1DoFActuatorTorque >, PlatformSimulationDevice::JointVelocityController, and JointControllerTemplate< ControlTargetType >.
Definition at line 144 of file JointController.h.
Here is the caller graph for this function:◆ getHardwareControlMode()
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inlinevirtual |
Reimplemented in PlatformSimulationDevice::JointStopMovementController, PlatformSimulationDevice::JointEmergencyStopController, JointSimulationDevice::JointSimController< TargT >, and PlatformSimulationDevice::JointVelocityController.
Definition at line 169 of file JointController.h.
◆ getHardwareControlModeHash()
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inline |
Definition at line 187 of file JointController.h.
◆ getParent()
| ControlDevice & getParent | ( | ) | const |
Definition at line 30 of file JointController.cpp.
◆ publish()
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virtual |
Hook for publishing data from JointController, mainly for debugging purposes.
The preferred way is to use the return value of the function to publish the data. This function is called in the publish thread, not the RT thread. Thus, appropriate lock-free synchronization (e.g. atomic variables or TrippleBuffer) must be used to move the data from RT thread to the publish thread.
- Parameters
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draw Interface proxy to the DebugDrawer topic. observer Interface proxy to DebugObserver topic.
- Returns
- These values are published on the RobotUnitObserver in the channel "ControlDevices". The keys of the map are prepended with "{ControlDeviceName}_{ControlModeName}_" and are used as keys of the datafields.
Definition at line 37 of file JointController.cpp.
◆ rtGetControlModeHash()
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inline |
Definition at line 181 of file JointController.h.
◆ rtGetHardwareControlModeHash()
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inline |
◆ rtGetParent() [1/2]
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inline |
◆ rtGetParent() [2/2]
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inline |
◆ rtIsTargetValid()
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inlinevirtual |
Reimplemented in PlatformSimulationDevice::JointStopMovementController, and PlatformSimulationDevice::JointEmergencyStopController.
Definition at line 157 of file JointController.h.
Here is the call graph for this function:◆ rtPostDeactivateController()
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inlineprotectedvirtual |
Definition at line 210 of file JointController.h.
◆ rtPreActivateController()
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inlineprotectedvirtual |
called when this JointController is activated
Definition at line 205 of file JointController.h.
◆ rtResetTarget()
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inlinevirtual |
◆ rtRun()
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protectedpure virtual |
Friends And Related Function Documentation
◆ ControlDevice
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friend |
called when this JointController is deactivated
Definition at line 116 of file JointController.h.
The documentation for this class was generated from the following files:
- RobotAPI/components/units/RobotUnit/JointControllers/JointController.h
- RobotAPI/components/units/RobotUnit/JointControllers/JointController.cpp
