Class ControllerBase

• Defined in File ControllerBase.h

Inheritance Relationships

Base Type

• public controller_interface::ControllerInterface

Derived Type

• public legged::StandbyController (Class StandbyController)

Class Documentation

class ControllerBase : public controller_interface::ControllerInterface

Subclassed by legged::StandbyController

Public Functions

controller_interface::InterfaceConfiguration command_interface_configuration() const override

controller_interface::InterfaceConfiguration state_interface_configuration() const override

controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override

controller_interface::CallbackReturn on_init() override

controller_interface::CallbackReturn on_activate(const rclcpp_lifecycle::State &previous_state) override

Public Members

const std::string interfaceName_ = "state_estimator/legged_model"

Protected Functions

void setCommands(vector_t commands, size_t offset)

void setPositions(const vector_t &commands)

void setVelocities(const vector_t &commands)

void setEfforts(const vector_t &commands)

void setStiffnesses(const vector_t &commands)

void setDampings(const vector_t &commands)

inline LeggedModel::SharedPtr leggedModel() const

Protected Attributes

std::vector<std::string> jointNameInControl_

LeggedModel::SharedPtr *leggedModel_ = {nullptr}