rm_chassis_controllers::Protect Class Reference

#include <protect.h>

Inheritance diagram for rm_chassis_controllers::Protect:

Collaboration diagram for rm_chassis_controllers::Protect:

Public Member Functions
	Protect (BipedalControllerInterface *controller_, const std::vector< hardware_interface::JointHandle * > &joint_handles, const std::vector< control_toolbox::Pid * > &pid_legs, const std::vector< control_toolbox::Pid * > &pid_thetas, const std::vector< control_toolbox::Pid * > &pid_wheels, control_toolbox::Pid *pid_theta_diff, control_toolbox::Pid *pid_yaw_vel)
void	execute (const ros::Time &time, const ros::Duration &period) override
const char *	name () const override
Public Member Functions inherited from rm_chassis_controllers::ModeBase
	ModeBase (BipedalControllerInterface *controller_)
virtual	~ModeBase ()=default
void	updateUnstick (const bool &left_unstick, const bool &right_unstick)
bool	getUnstick ()

Additional Inherited Members
Protected Attributes inherited from rm_chassis_controllers::ModeBase
bool	left_unstick_ { false }
bool	right_unstick_ { false }
BipedalControllerInterface *	controller { nullptr }

Constructor & Destructor Documentation

Protect()

rm_chassis_controllers::Protect::Protect ( BipedalControllerInterface * controller_, const std::vector< hardware_interface::JointHandle * > & joint_handles, const std::vector< control_toolbox::Pid * > & pid_legs, const std::vector< control_toolbox::Pid * > & pid_thetas, const std::vector< control_toolbox::Pid * > & pid_wheels, control_toolbox::Pid * pid_theta_diff, control_toolbox::Pid * pid_yaw_vel )

explicit

Member Function Documentation

execute()

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

overridevirtual

Implements rm_chassis_controllers::ModeBase.

name()

const char * rm_chassis_controllers::Protect::name ( ) const

inlineoverridevirtual

Implements rm_chassis_controllers::ModeBase.

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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/protect.h
• rm_chassis_controllers/src/bipedal_wheel_controller/controller_mode/protect.cpp