ControllerConfigurationInterface Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h>

Interface to register and query controllers supported by the robot. More...

Inheritance diagram for ControllerConfigurationInterface:

Detailed Description

Interface to register and query controllers supported by the robot.

Robot implementations (control RobotStateStream, and the respective RobotRunner if present) should register the supported controllers in the constructor. Users can query this interface to discover the available controllers and their parameters. A controller can be activated at runtime through this interface.

Public Member Functions
	ControllerConfigurationInterface (std::vector< ControllerConfiguration > controllers)
std::vector< ControllerConfiguration >	controllers () const
	Returns descriptions of controllers with default parameter values.
std::optional< ControllerConfiguration >	controllerWithName (const std::string &name) const
	Get the controller with the given name.
bool	activateController (const ControllerConfiguration &controllerConfiguration)
	Activates the given controller, taking the parameters from the given configuration.
std::optional< ControllerConfiguration >	activeController () const
	Which controller is currently active.

Static Public Member Functions
static std::string	id ()

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

• RoboticsPlugin/Include/ImFusion/Robotics/RobotControlInterfaces.h