creos::ISetpointControlInterface Class Reference

The interface for sending control setpoints to an Avular robot. More...

#include <creos/setpoint_control_interface.hpp>

Public Member Functions
virtual void	publishVelocityCommand (const creos_messages::Twist &cmd_vel)=0
	Publish a velocity command to the robot.
virtual void	setControlSource (const creos_messages::ControlSource &source, int timeout_ms=5000)=0
	Set the control source of the robot.
virtual SubscriptionId	subscribeToCurrentControlSource (const std::function< void(const creos_messages::ControlSource &)> &callback)=0
	Subscribe to the current control source of the robot.
virtual creos_messages::ControlSource	getCurrentControlSource (int timeout_ms=1500)=0
	Get the current control source of the robot.
virtual void	sendCommand (const creos_messages::Command command, int timeout_ms=5000)=0
	Send a command to the robot to trigger a one-time action.
virtual void	sendCommand (const creos_messages::CommandStamped command, int timeout_ms=5000)=0
	Send a command with timestamp to the robot to trigger a one-time action.
virtual void	publishStateReference (const creos_messages::StateReference &state_reference)=0
	Publish a state reference to the robot.

Static Public Attributes
static constexpr char	name [] = "setpoint_control"
static constexpr unsigned	version = 1

Detailed Description

The interface for sending control setpoints to an Avular robot.

Member Function Documentation

getCurrentControlSource()

virtual creos_messages::ControlSource creos::ISetpointControlInterface::getCurrentControlSource ( int timeout_ms = 1500 )

pure virtualOriginVertex

Get the current control source of the robot.

Parameters

timeout_ms

The timeout in milliseconds.

Returns

The current control source of the robot.

Exceptions

creos::UnsupportedError	if the robot does not support getting the control source.
creos::TimeoutError	if the control source could not be retrieved within the timeout.
creos::Exception	if any other error occurred while getting the data.

publishStateReference()

virtual void creos::ISetpointControlInterface::publishStateReference ( const creos_messages::StateReference & state_reference )

pure virtualVertex

Publish a state reference to the robot.

Parameters

state_reference

The state reference to publish.

Exceptions

creos::UnsupportedError	if the robot does not support state references.
creos::PublicationError	if an error occurs while publishing the state reference.
creos::TimeoutError	if the state reference could not be set within the timeout.

publishVelocityCommand()

virtual void creos::ISetpointControlInterface::publishVelocityCommand ( const creos_messages::Twist & cmd_vel )

pure virtualOrigin

Publish a velocity command to the robot.

This function will publish a velocity command to the robot.

Parameters

message

The velocity command to publish.

Exceptions

creos::UnsupportedError	if the robot does not support sending velocity commands.
creos::PublicationError	if an error occurs while publishing the velocity command.

sendCommand() [1/2]

virtual void creos::ISetpointControlInterface::sendCommand ( const creos_messages::Command command, int timeout_ms = 5000 )

pure virtualVertex

Send a command to the robot to trigger a one-time action.

Parameters

command	The command to send.
timeout_ms	The timeout in milliseconds.

Exceptions

creos::ServiceCallError	if the command is not accepted.
creos::UnsupportedError	if the robot does not support commands.
creos::TimeoutError	if the robot does not respond within the timeout.

sendCommand() [2/2]

virtual void creos::ISetpointControlInterface::sendCommand ( const creos_messages::CommandStamped command, int timeout_ms = 5000 )

pure virtualVertex

Send a command with timestamp to the robot to trigger a one-time action.

Parameters

command	The command to send with a timestamp.
timeout_ms	The timeout in milliseconds.

Exceptions

creos::ServiceCallError	if the command is not accepted.
creos::UnsupportedError	if the robot does not support commands.
creos::TimeoutError	if the robot does not respond within the timeout.

setControlSource()

virtual void creos::ISetpointControlInterface::setControlSource ( const creos_messages::ControlSource & source, int timeout_ms = 5000 )

pure virtualOrigin

Set the control source of the robot.

Parameters

source	The control source to set.
timeout_ms	The timeout in milliseconds.

Exceptions

creos::UnsupportedError	if the robot does not support setting the control source.
creos::PublicationError	if an error occurs while setting the control source.
creos::TimeoutError	if the control source could not be set within the timeout.
creos::ServiceCallError	if the control source could not be set.

subscribeToCurrentControlSource()

virtual SubscriptionId creos::ISetpointControlInterface::subscribeToCurrentControlSource ( const std::function< void(const creos_messages::ControlSource &)> & callback )

pure virtualOriginVertex

Subscribe to the current control source of the robot.

Parameters

callback

The callback to call when the control source changes.

Returns

The current control source of the robot.

Exceptions

creos::UnsupportedError	if the robot does not support getting the control source.
creos::Exception	if any other error occurred while setting the control source.

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

• creos/setpoint_control_interface.hpp