controllers::ControllerFactory< S > Class Template Reference

Factory to create a shared pointer to a controller. More...

#include <ControllerFactory.hpp>

Public Member Functions
std::shared_ptr< IController< CartesianState > >	create_controller (CONTROLLER_TYPE type, const std::list< std::shared_ptr< ParameterInterface > > &parameters, unsigned int)
std::shared_ptr< IController< JointState > >	create_controller (CONTROLLER_TYPE type, const std::list< std::shared_ptr< ParameterInterface > > &parameters, unsigned int dimensions)
std::shared_ptr< IController< CartesianState > >	create_controller (CONTROLLER_TYPE type, const std::list< std::shared_ptr< ParameterInterface > > &parameters, const robot_model::Model &robot_model)
std::shared_ptr< IController< JointState > >	create_controller (CONTROLLER_TYPE type, const std::list< std::shared_ptr< ParameterInterface > > &parameters, const robot_model::Model &robot_model)

Static Public Member Functions
static std::shared_ptr< IController< S > >	create_controller (CONTROLLER_TYPE type, unsigned int dimensions=6)
	Create a controller of the desired type.
static std::shared_ptr< IController< S > >	create_controller (CONTROLLER_TYPE type, const std::list< std::shared_ptr< state_representation::ParameterInterface > > &parameters, unsigned int dimensions=6)
	Create a controller of the desired type with initial parameters.
static std::shared_ptr< IController< S > >	create_controller (CONTROLLER_TYPE type, const robot_model::Model &robot_model)
	Create a controller of the desired type with an associated robot model.
static std::shared_ptr< IController< S > >	create_controller (CONTROLLER_TYPE type, const std::list< std::shared_ptr< state_representation::ParameterInterface > > &parameters, const robot_model::Model &robot_model)
	Create a controller of the desired type with initial parameters and an associated robot model.

Detailed Description

template<class S>
class controllers::ControllerFactory< S >

Factory to create a shared pointer to a controller.

Template Parameters

S	Underlying state type of the controller

Definition at line 18 of file ControllerFactory.hpp.

Member Function Documentation

create_controller() [1/8]

template<class S >

std::shared_ptr< IController< S > > controllers::ControllerFactory< S >::create_controller ( CONTROLLER_TYPE  type, const robot_model::Model &  robot_model  )

static

Create a controller of the desired type with an associated robot model.

Parameters

type	The type of controller
robot_model	The robot model to associate with the controller. This is used to infer the dimensionality of the controller and influence controller behaviour depending on the controller type.

Returns

The shared pointer to the controller

Definition at line 73 of file ControllerFactory.hpp.

create_controller() [2/8]

std::shared_ptr< IController< CartesianState > > controllers::ControllerFactory< CartesianState >::create_controller	(	CONTROLLER_TYPE	type,
		const std::list< std::shared_ptr< ParameterInterface > > &	parameters,
		const robot_model::Model &	robot_model
	)

Definition at line 69 of file ControllerFactory.cpp.

create_controller() [3/8]

std::shared_ptr< IController< JointState > > controllers::ControllerFactory< JointState >::create_controller	(	CONTROLLER_TYPE	type,
		const std::list< std::shared_ptr< ParameterInterface > > &	parameters,
		const robot_model::Model &	robot_model
	)

Definition at line 82 of file ControllerFactory.cpp.

create_controller() [4/8]

std::shared_ptr< IController< JointState > > controllers::ControllerFactory< JointState >::create_controller	(	CONTROLLER_TYPE	type,
		const std::list< std::shared_ptr< ParameterInterface > > &	parameters,
		unsigned int	dimensions
	)

Definition at line 43 of file ControllerFactory.cpp.

create_controller() [5/8]

std::shared_ptr< IController< CartesianState > > controllers::ControllerFactory< CartesianState >::create_controller	(	CONTROLLER_TYPE	type,
		const std::list< std::shared_ptr< ParameterInterface > > &	parameters,
		unsigned int
	)

Definition at line 14 of file ControllerFactory.cpp.

create_controller() [6/8]

template<class S >

static std::shared_ptr< IController< S > > controllers::ControllerFactory< S >::create_controller ( CONTROLLER_TYPE  type, const std::list< std::shared_ptr< state_representation::ParameterInterface > > &  parameters, const robot_model::Model &  robot_model  )

static

Create a controller of the desired type with initial parameters and an associated robot model.

Parameters

type	The type of controller
parameters	A list of parameters to set on the controller
robot_model	The robot model to associate with the controller

Returns

The shared pointer to the controller

create_controller() [7/8]

template<class S >

static std::shared_ptr< IController< S > > controllers::ControllerFactory< S >::create_controller ( CONTROLLER_TYPE  type, const std::list< std::shared_ptr< state_representation::ParameterInterface > > &  parameters, unsigned int  dimensions = 6  )

static

Create a controller of the desired type with initial parameters.

Parameters

type	The type of controller
parameters	A list of parameters to set on the controller
dimensions	The dimensionality of the controller (6 for Cartesian space, number of joints for joint space)

Returns

The shared pointer to the controller

create_controller() [8/8]

template<class S >

std::shared_ptr< IController< S > > controllers::ControllerFactory< S >::create_controller ( CONTROLLER_TYPE  type, unsigned int  dimensions = 6  )

static

Create a controller of the desired type.

Parameters

type	The type of controller
dimensions	The dimensionality of the controller (6 for Cartesian space, number of joints for joint space)

Returns

The shared pointer to the controller

Definition at line 66 of file ControllerFactory.hpp.

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

• /github/workspace/source/controllers/include/controllers/ControllerFactory.hpp