optas.templates.ROSController Class Reference

A class for implementing controllers. More...

Inheritance diagram for optas.templates.ROSController:

Collaboration diagram for optas.templates.ROSController:

Public Member Functions
def	__init__ (self, Any rosapi, int rosver, Union[None, str] config_filename, int hz, str urdf_string, bool record_solver_perf=False)
	Initializer for the ROSController class. More...
None	__call__ (self)
	Step the controller. More...
Public Member Functions inherited from optas.templates.ROSManager
def	__init__ (self, Any rosapi, int rosver, Union[None, str] config_filename, bool record_solver_perf=False)
	Initializer for the ROSManger class. More...
None	add_subscriber (self, str topic_name, Any msg_type)
	Creates a subscriber. More...
Any	get_state (self, str topic_name)
	Get the most current message. More...
bool	is_ready (self)
	True when messages have been recieved on all topics. More...
None	publish_target (self, cs.DM target)
	Publish a target to ROS. More...
None	create_state_listener (self)
	Creates the state listener. More...
Public Member Functions inherited from optas.templates.Manager
def	__init__ (self, Union[None, str] config_filename=None, bool record_solver_perf=False)
	Initializer for the Manger class. More...
None	reset_manager (self)
	Reset basic variables in the manager. More...
float	get_solver_duration (self)
	Returns the duration of the solver. More...
bool	is_first_solve (self)
	True when the solver is being run for the first time. More...
None	setup_solver (self)
	Abstract methods. More...
None	reset (self)
	Reset the optimization problem. More...
cs.DM	get_target (self)
	Return the target from the solution. More...

Public Attributes
	urdf_string
	The URDF for the robot as a string. More...
	hz
	Sampling frequency for the controller. More...
Public Attributes inherited from optas.templates.ROSManager
	rosapi
	For ROS 1, this is rospy (ie. More...
	rosver
	ROS version (i.e. More...
	Float64MultiArray
	Float array message type. More...
	target_pub
	Target publisher. More...
	msgs
	Dictionary containing messages from the state listener. More...
Public Attributes inherited from optas.templates.Manager
	config_filename
	record_solver_perf
	config
	solver
	solve
	num_solves
	solver_duration
	solution

Additional Inherited Members
Static Public Attributes inherited from optas.templates.ROSManager
dictionary	state_listener = {}
	ROS state listener. More...

Detailed Description

A class for implementing controllers.

Constructor & Destructor Documentation

__init__()

def optas.templates.ROSController.__init__	(		self,
		Any	rosapi,
		int	rosver,
		Union[None, str]	config_filename,
		int	hz,
		str	urdf_string,
		bool	record_solver_perf = False
	)

Initializer for the ROSController class.

   @param rosapi For ROS 1, this is rospy (ie. import rospy, and pass the module). For ROS 2, this is the node.
   @param rosver When using ROS 1, pass 1, and if using ROS 2, pass 2.
   @param config_filename Filename for a YAML configuration file. When None is passed, it is assumed there is no configuration.
   @param hz The sampling frequency (in Hz) that the controller will run.
   @param urdf_string The URDF for the robot passed as a string.
   @param record_solver_perf When true the solver duration is recorded when there is a call to solve.
   @return An instance of the ROSController class.

Member Function Documentation

__call__()

None optas.templates.ROSController.__call__

(

self

)

Step the controller.

Reset the problem, solve the problem, and pubslih the target.

Member Data Documentation

hz

optas.templates.ROSController.hz

Sampling frequency for the controller.

urdf_string

optas.templates.ROSController.urdf_string

The URDF for the robot as a string.

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

• templates.py