LocalGuidance
A library that generates velocity references to follow a path.
local_guidance_loco_ctrl_manager::LowLevelControllerInterface Class Reference

#include <LowLevelControllerInterface.hpp>

Public Member Functions

 LowLevelControllerInterface (ros::NodeHandle &nodeHandle)
 
virtual ~LowLevelControllerInterface ()=default
 
void shutdown ()
 
void reset ()
 
bool switchLowLevelController ()
 

Protected Attributes

ros::NodeHandle & nodeHandle_
 Ros node handle. More...
 
std::string switchLowLevelControllerRequestString_
 Switch low level controller request string. More...
 
ros::ServiceClient switchLowLevelControllerClient_
 Switch low level controller client. More...
 

Constructor & Destructor Documentation

local_guidance_loco_ctrl_manager::LowLevelControllerInterface::LowLevelControllerInterface ( ros::NodeHandle &  nodeHandle)
explicit

Constructor.

Parameters
nodeHandleros node handle.
virtual local_guidance_loco_ctrl_manager::LowLevelControllerInterface::~LowLevelControllerInterface ( )
virtualdefault

Destructor.

Member Function Documentation

void local_guidance_loco_ctrl_manager::LowLevelControllerInterface::reset ( )

Reset the members.

void local_guidance_loco_ctrl_manager::LowLevelControllerInterface::shutdown ( )

Shutdown the ROS communication.

bool local_guidance_loco_ctrl_manager::LowLevelControllerInterface::switchLowLevelController ( )

Switch the low level controller.

Returns
true if successful (switched or already active).

Member Data Documentation

ros::NodeHandle& local_guidance_loco_ctrl_manager::LowLevelControllerInterface::nodeHandle_
protected

Ros node handle.

ros::ServiceClient local_guidance_loco_ctrl_manager::LowLevelControllerInterface::switchLowLevelControllerClient_
protected

Switch low level controller client.

std::string local_guidance_loco_ctrl_manager::LowLevelControllerInterface::switchLowLevelControllerRequestString_
protected

Switch low level controller request string.


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