joint_qualification_controllers::CheckoutController Class Reference

Checkout Controller checks state of PR2 mechanism. More...

#include <checkout_controller.h>

List of all members.

Public Types
enum	{ STARTING, LISTENING, ANALYZING, DONE }
Public Member Functions
void	analysis (double time, bool timeout=false)
	Perform the test analysis.
	CheckoutController ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Functional way to initialize.
bool	sendData ()
	Sends data, returns true if sent.
void	starting ()
	Called when controller is started or restarted.
void	update ()
	Checks joint, actuator status for calibrated and enabled.
	~CheckoutController ()
Private Member Functions
bool	done ()
Private Attributes
int	actuator_count_
bool	data_sent_
ros::Time	initial_time_
int	joint_count_
double	last_publish_time_
pr2_mechanism_model::RobotState *	robot_
joint_qualification_controllers::RobotData	robot_data_
boost::scoped_ptr < realtime_tools::RealtimePublisher < joint_qualification_controllers::RobotData > >	robot_data_pub_
int	state_
double	timeout_

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Detailed Description

Checkout Controller checks state of PR2 mechanism.

Verifies that all robot joints are calibrated. Publishes state of actuators and joints.

Definition at line 70 of file checkout_controller.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

STARTING
LISTENING
ANALYZING
DONE

Definition at line 74 of file checkout_controller.h.

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Constructor & Destructor Documentation

CheckoutController::CheckoutController

(

)

Definition at line 45 of file checkout_controller.cpp.

joint_qualification_controllers::CheckoutController::~CheckoutController

(

)

[inline]

Definition at line 77 of file checkout_controller.h.

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Member Function Documentation

void CheckoutController::analysis	(	double	time,
		bool	timeout = false
	)

Perform the test analysis.

Definition at line 267 of file checkout_controller.cpp.

bool joint_qualification_controllers::CheckoutController::done

(

)

[inline, private]

Definition at line 120 of file checkout_controller.h.

bool CheckoutController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

Functional way to initialize.

Parameters:

	*robot	The robot that is being controlled.
	&n	NodeHandle of mechanism control

Definition at line 61 of file checkout_controller.cpp.

bool CheckoutController::sendData

(

)

Sends data, returns true if sent.

Definition at line 232 of file checkout_controller.cpp.

void CheckoutController::starting

(

)

Called when controller is started or restarted.

Definition at line 132 of file checkout_controller.cpp.

void CheckoutController::update

(

)

Checks joint, actuator status for calibrated and enabled.

Definition at line 139 of file checkout_controller.cpp.

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Member Data Documentation

int joint_qualification_controllers::CheckoutController::actuator_count_ [private]

Definition at line 118 of file checkout_controller.h.

bool joint_qualification_controllers::CheckoutController::data_sent_ [private]

Definition at line 122 of file checkout_controller.h.

ros::Time joint_qualification_controllers::CheckoutController::initial_time_ [private]

Start time of the test.

Definition at line 109 of file checkout_controller.h.

int joint_qualification_controllers::CheckoutController::joint_count_ [private]

Definition at line 117 of file checkout_controller.h.

double joint_qualification_controllers::CheckoutController::last_publish_time_ [private]

Definition at line 124 of file checkout_controller.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::CheckoutController::robot_ [private]

Definition at line 108 of file checkout_controller.h.

joint_qualification_controllers::RobotData joint_qualification_controllers::CheckoutController::robot_data_ [private]

Definition at line 113 of file checkout_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher< joint_qualification_controllers::RobotData> > joint_qualification_controllers::CheckoutController::robot_data_pub_ [private]

Definition at line 128 of file checkout_controller.h.

int joint_qualification_controllers::CheckoutController::state_ [private]

Definition at line 115 of file checkout_controller.h.

double joint_qualification_controllers::CheckoutController::timeout_ [private]

Definition at line 111 of file checkout_controller.h.

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

• checkout_controller.h
• checkout_controller.cpp