rm_hw::RmRobotHWLoop Class Reference

#include <control_loop.h>

Public Member Functions
	RmRobotHWLoop (ros::NodeHandle &nh, std::shared_ptr< RmRobotHW > hardware_interface)
	Create controller manager. Load loop frequency. Start control loop which call rm_hw::RmRobotHWLoop::update() in a frequency.
	~RmRobotHWLoop ()
void	update ()
	Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Constructor & Destructor Documentation

RmRobotHWLoop()

rm_hw::RmRobotHWLoop::RmRobotHWLoop	(	ros::NodeHandle &	nh,
		std::shared_ptr< RmRobotHW >	hardware_interface )

Create controller manager. Load loop frequency. Start control loop which call rm_hw::RmRobotHWLoop::update() in a frequency.

Parameters

nh	Node-handle of a ROS node.
hardware_interface	A pointer which point to hardware_interface.

~RmRobotHWLoop()

rm_hw::RmRobotHWLoop::~RmRobotHWLoop

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Member Function Documentation

update()

void rm_hw::RmRobotHWLoop::update

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Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Timed method that reads current hardware's state, runs the controller code once and sends the new commands to the hardware.

Note: we do not use the TimerEvent time difference because it does NOT guarantee that the time source is strictly linearly increasing.

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

• rm_hw/include/rm_hw/control_loop.h
• rm_hw/src/control_loop.cpp