switch_controller.hpp File Reference

#include <controller_manager_msgs/srv/list_controllers.hpp>
#include <controller_manager_msgs/srv/switch_controller.hpp>
#include <tl_expected/expected.hpp>
#include "moveit_pro_behavior_interface/service_client_behavior_base.hpp"
#include "moveit_pro_behavior_interface/shared_resources_node.hpp"

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Classes
class	moveit_pro::behaviors::SwitchController
	A Behavior to call the ros2_control switch_controllers service to activate/deactivate controllers. More...

Namespaces
namespace	moveit_pro
namespace	moveit_pro::behaviors

Typedefs
using	moveit_pro::behaviors::ListControllersSrv = controller_manager_msgs::srv::ListControllers
using	moveit_pro::behaviors::SwitchControllerSrv = controller_manager_msgs::srv::SwitchController

Functions
std::set< std::string, std::less<> >	moveit_pro::behaviors::findConflictingControllers (const std::vector< std::string > &controllers_to_activate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Find the controllers that are in conflict with the ones to activate.
std::vector< std::string >	moveit_pro::behaviors::filterAlreadyActiveControllers (const std::vector< std::string > &activate_controllers, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Filter out controllers that are already active from the activation list.
std::vector< std::string >	moveit_pro::behaviors::filterAlreadyInactiveControllers (const std::vector< std::string > &deactivate_controllers, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Filter out controllers that are already inactive from the deactivation list.
std::set< std::string, std::less<> >	moveit_pro::behaviors::findPrecedingControllers (const std::vector< std::string > &controllers_to_deactivate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Find preceding controllers in the controller chain that must be deactivated first.
std::set< std::string, std::less<> >	moveit_pro::behaviors::findFollowingControllers (const std::vector< std::string > &controllers_to_activate, const std::vector< controller_manager_msgs::msg::ControllerState > &all_controllers)
	Find following controllers in the controller chain that must be activated first.