Executor.hpp File Reference

#include <chrono>
#include <set>
#include <vector>
#include <dart/dart.hpp>
#include "aikido/common/ExecutorThread.hpp"
#include "aikido/common/pointers.hpp"

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Classes
class	aikido::control::Executor
	Abstract class for executing commands on degrees of freedom. More...

Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::control

Typedefs
using	aikido::control::ExecutorPtr = std::shared_ptr< Executor >
using	aikido::control::ConstExecutorPtr = std::shared_ptr< const Executor >
using	aikido::control::WeakExecutorPtr = std::weak_ptr< Executor >
using	aikido::control::WeakConstExecutorPtr = std::weak_ptr< const Executor >
using	aikido::control::UniqueExecutorPtr = std::unique_ptr< Executor >
using	aikido::control::UniqueConstExecutorPtr = std::unique_ptr< const Executor >

Enumerations
enum	aikido::control::ExecutorType {   aikido::control::ExecutorType::STATE = 0, aikido::control::ExecutorType::POSITION = 1, aikido::control::ExecutorType::VELOCITY = 2, aikido::control::ExecutorType::EFFORT = 3,   aikido::control::ExecutorType::TRAJECTORY = 4, aikido::control::ExecutorType::MODE = 5, aikido::control::ExecutorType::READONLY = 6 }
	Type of executor Can be used to determine if 2 executors make conflicting demands of individual degrees of freedom (Dofs) Can also be used to gracefully dynamic_cast Roughly analogous to default ROS control types: https://wiki.ros.org/ros_control The following updates the state of the DoF directly: STATE The following do not necessarily update the DoF's state directly, but may require locking external resources: POSITION - commands position to dofs VELOCITY - commands velocity to dofs EFFORT - commands effort (i.e. More...

Variables
constexpr std::chrono::milliseconds	aikido::control::defaultThreadRate {10}
	Default rate for ExecutorThread to call step() More...