roboligo::Output Class Reference

Handles output commands for robot motion control. More...

#include <Output.hpp>

Inheritance diagram for roboligo::Output:

Collaboration diagram for roboligo::Output:

Public Member Functions
	Output (std::string new_name, std::string new_topic)
	Constructs an Output commander with a name and topic.
void	set_data (const geometry_msgs::msg::Twist *msg)
	Sets output data from an unstamped Twist message.
void	set_data_stamped (const geometry_msgs::msg::TwistStamped *msg)
	Sets output data from a timestamped TwistStamped message.
virtual	~Output ()=default
	Virtual destructor for proper cleanup of derived classes.
Public Member Functions inherited from roboligo::Commander
	Commander (std::string new_name, std::string new_value)
	Constructor for Commander.
void	init (std::string new_name, std::string new_value)
	Initialize the commander with name and value.
bool	is_stamped (void)
	Check if timestamp stamping is enabled.
void	set_stamp (bool stamped)
	Enable or disable timestamp stamping for messages.
virtual	~Commander ()=default
	Virtual destructor.
Public Member Functions inherited from roboligo::Linker
interfaces::modes	get_mode ()
	Gets the current mode of the linker.
std::string	get_name ()
	Gets the linker name.
std::string	get_topic ()
	Gets the topic name.
bool	is_available (void)
	Checks if the linker is available.
bool	is_configured (void)
	Checks if the linker is configured.
	Linker ()
	Default constructor.
void	set_available (bool new_state)
	Sets the availability state.
void	set_configured (bool new_state)
	Sets the configuration state.
void	set_interface (std::string name_, std::string topic_name_)
	Configures the interface with name and topic.
void	set_mode (interfaces::modes new_mode)
	Sets the linker mode.
void	set_name (std::string new_name)
	Sets the linker name.
void	set_service (std::string new_name)
	Sets the service name.
void	set_topic (std::string new_name)
	Sets the topic name.
virtual	~Linker ()=default
	Virtual destructor.

Public Attributes
RoboligoOutputPositionTarget	position_target
	Stores target position output data.
RoboligoOutputTwist	twist
	Stores unstamped twist (velocity) output data.
RoboligoOutputTwistStamped	twist_stamped
	Stores timestamped twist (velocity) output data.
Public Attributes inherited from roboligo::Linker
std::shared_ptr< interfaces::Interface >	interface
	Shared pointer to the interface object.
std::string	name {"linker"}
	Linker identifier name.
std::string	topic_name {"/interface"}
	Associated topic name.

Additional Inherited Members
Protected Member Functions inherited from roboligo::Commander
void	initialize (std::string new_name, std::string new_topic)
	Protected initialization method.
Protected Attributes inherited from roboligo::Commander
bool	use_stamp_ {true}
	Flag indicating whether to include timestamps in published messages.
Protected Attributes inherited from roboligo::Linker
bool	available_ {false}
	Availability flag.
bool	configured_ {false}
	Configuration state flag.
interfaces::modes	mode_
	Current operating mode.

Detailed Description

Handles output commands for robot motion control.

Manages twist and position target messages for commanding robot movement. Supports both stamped and unstamped geometric message types.

Constructor & Destructor Documentation

Output()

roboligo::Output::Output	(	std::string	new_name,
		std::string	new_topic )

Constructs an Output commander with a name and topic.

Parameters

new_name	The name identifier for this output commander.
new_topic	The ROS topic name for publishing output messages.

~Output()

virtual roboligo::Output::~Output ( )

virtualdefault

Virtual destructor for proper cleanup of derived classes.

Member Function Documentation

set_data()

void roboligo::Output::set_data

(

const geometry_msgs::msg::Twist *

msg

)

Sets output data from an unstamped Twist message.

Parameters

msg	Pointer to the geometry_msgs::msg::Twist message to store.

set_data_stamped()

void roboligo::Output::set_data_stamped

(

const geometry_msgs::msg::TwistStamped *

msg

)

Sets output data from a timestamped TwistStamped message.

Parameters

msg	Pointer to the geometry_msgs::msg::TwistStamped message to store.

Member Data Documentation

position_target

RoboligoOutputPositionTarget roboligo::Output::position_target

Stores target position output data.

twist

RoboligoOutputTwist roboligo::Output::twist

Stores unstamped twist (velocity) output data.

twist_stamped

RoboligoOutputTwistStamped roboligo::Output::twist_stamped

Stores timestamped twist (velocity) output data.

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

• roboligo_common/include/roboligo_common/connector/commanders/Output.hpp
• roboligo_common/src/roboligo_common/connector/commanders/Output.cpp