aikido::control::PositionCommandExecutor Class Reference

Abstract class for executing position commands. More...

#include <aikido/control/PositionCommandExecutor.hpp>

Inheritance diagram for aikido::control::PositionCommandExecutor:

Public Member Functions
virtual	~PositionCommandExecutor ()=default
virtual std::future< void >	execute (const Eigen::VectorXd &goalPositions)=0
	Move hand to goalPosition. More...
virtual void	step (const std::chrono::system_clock::time_point &timepoint)=0
	Step to a point in time. More...

Protected Attributes
std::chrono::system_clock::time_point	mTimeOfPreviousCall
	Time of previous call to step. More...

Detailed Description

Abstract class for executing position commands.

A position command requests several degrees of freedom to move to a specified configuration and provides feedback when the move is complete.

Note

A move may complete before the DOFs reach the specified configuration due to e.g. collision.

Constructor & Destructor Documentation

~PositionCommandExecutor()

virtual aikido::control::PositionCommandExecutor::~PositionCommandExecutor ( )

virtualdefault

Member Function Documentation

execute()

virtual std::future<void> aikido::control::PositionCommandExecutor::execute ( const Eigen::VectorXd &  goalPositions )

pure virtual

Move hand to goalPosition.

Parameters

goalPositions

Goal positions

Returns

future which becomes available when movement stops

Implemented in aikido::control::ros::RosPositionCommandExecutor.

step()

virtual void aikido::control::PositionCommandExecutor::step ( const std::chrono::system_clock::time_point &  timepoint )

pure virtual

Step to a point in time.

Note

timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint

Time to simulate to

Implemented in aikido::control::ros::RosPositionCommandExecutor.

Member Data Documentation

mTimeOfPreviousCall

std::chrono::system_clock::time_point aikido::control::PositionCommandExecutor::mTimeOfPreviousCall

protected

Time of previous call to step.

Note

If step has not yet been called, this is the time that execute was called.