ControllerWrapperBase Class Reference

The base class for the ControllerWrapper which allows the private implementation to be in the .cpp file. More...

#include <armarx/control/client/ControllerWrapper.h>

Inheritance diagram for ControllerWrapperBase:

Public Types
using	ControllerPrx = armarx::control::ConfigurableNJointControllerInterfacePrx

Public Member Functions
void	activate ()
	Requests the activation of the controller in the RobotUnit.
	ControllerWrapperBase ()=delete
	ControllerWrapperBase (const ControllerPrx &controller, const std::string &controllerName, const std::string &controllerTypeName, const memory::config::Writer &configWriter)
	Constructor for the ControllerWrapperBase class.
ControllerPrx &	ctrl ()
	Returns the "raw" controller object.
void	daemonize (bool daemonize=true)
	Sets whether the controller should be daemonized.
void	deactivate ()
	Requests the deactivation of the controller in the RobotUnit.
bool	isActive ()
	Check the status of the controller.
	~ControllerWrapperBase ()
	Destructor for the ControllerWrapperBase class.

Protected Member Functions
void	updateConfig (const armarx::aron::codegenerator::cpp::AronGeneratedObjectBase &config)
	Updates the configuration of the controller.

Detailed Description

The base class for the ControllerWrapper which allows the private implementation to be in the .cpp file.

Member Typedef Documentation

ControllerPrx

using ControllerPrx = armarx::control::ConfigurableNJointControllerInterfacePrx

Constructor & Destructor Documentation

ControllerWrapperBase() [1/2]

ControllerWrapperBase ( )

delete

ControllerWrapperBase() [2/2]

ControllerWrapperBase	(	const ControllerPrx &	controller,
		const std::string &	controllerName,
		const std::string &	controllerTypeName,
		const memory::config::Writer &	configWriter )

Constructor for the ControllerWrapperBase class.

Parameters

controller	The controller object.
controllerName	The name of the controller.
controllerTypeName	The type name of the controller.
configWriter	The configuration writer object.

~ControllerWrapperBase()

~ControllerWrapperBase

(

)

Destructor for the ControllerWrapperBase class.

When invoked, the controller is deactivated and deleted unless being daemonized.

Member Function Documentation

activate()

void activate

(

)

Requests the activation of the controller in the RobotUnit.

ctrl()

ControllerWrapperBase::ControllerPrx & ctrl

(

)

Returns the "raw" controller object.

Returns

The controller object.

daemonize()

void daemonize

(

bool

daemonize = true

)

Sets whether the controller should be daemonized.

Parameters

daemonize

Flag indicating whether to daemonize the controller.

deactivate()

void deactivate

(

)

Requests the deactivation of the controller in the RobotUnit.

isActive()

bool isActive

(

)

Check the status of the controller.

updateConfig()

void updateConfig ( const armarx::aron::codegenerator::cpp::AronGeneratedObjectBase & config )

protected

Updates the configuration of the controller.

This update is two-fold:

1. The configuration is sent to the controller in the RobotUnit.
2. The configuration is written to the memory (via the the configuration writer).

Parameters

config

The configuration object.

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

• armarx/control/client/ControllerWrapper.h
• armarx/control/client/ControllerWrapper.cpp