rm_chassis_controllers::ModeBase Class Reference

#include <mode_base.h>

Inheritance diagram for rm_chassis_controllers::ModeBase:

Collaboration diagram for rm_chassis_controllers::ModeBase:

Public Member Functions
	ModeBase (BipedalControllerInterface *controller_)
virtual void	execute (const ros::Time &time, const ros::Duration &period)=0
virtual const char *	name () const =0
virtual	~ModeBase ()=default
void	updateUnstick (const bool &left_unstick, const bool &right_unstick)
bool	getUnstick ()

Protected Attributes
bool	left_unstick_ { false }
bool	right_unstick_ { false }
BipedalControllerInterface *	controller { nullptr }

Constructor & Destructor Documentation

ModeBase()

rm_chassis_controllers::ModeBase::ModeBase ( BipedalControllerInterface * controller_ )

inlineexplicit

~ModeBase()

virtual rm_chassis_controllers::ModeBase::~ModeBase ( )

virtualdefault

Member Function Documentation

execute()

virtual void rm_chassis_controllers::ModeBase::execute ( const ros::Time & time, const ros::Duration & period )

pure virtual

Implemented in rm_chassis_controllers::Normal, rm_chassis_controllers::Protect, rm_chassis_controllers::Recover, rm_chassis_controllers::SitDown, rm_chassis_controllers::StandUp, and rm_chassis_controllers::Upstairs.

getUnstick()

bool rm_chassis_controllers::ModeBase::getUnstick ( )

inline

name()

virtual const char * rm_chassis_controllers::ModeBase::name ( ) const

pure virtual

Implemented in rm_chassis_controllers::Normal, rm_chassis_controllers::Protect, rm_chassis_controllers::Recover, rm_chassis_controllers::SitDown, rm_chassis_controllers::StandUp, and rm_chassis_controllers::Upstairs.

updateUnstick()

void rm_chassis_controllers::ModeBase::updateUnstick	(	const bool &	left_unstick,
		const bool &	right_unstick )

Member Data Documentation

controller

BipedalControllerInterface* rm_chassis_controllers::ModeBase::controller { nullptr }

protected

left_unstick_

bool rm_chassis_controllers::ModeBase::left_unstick_ { false }

protected

right_unstick_

bool rm_chassis_controllers::ModeBase::right_unstick_ { false }

protected

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

• rm_chassis_controllers/include/rm_chassis_controllers/bipedal_wheel_controller/controller_mode/mode_base.h
• rm_chassis_controllers/src/bipedal_wheel_controller/controller_mode/mode_base.cpp