joint_qualification_controllers::HysteresisController Class Reference

Hystersis Controller. More...

#include <hysteresis_controller.h>

List of all members.

Public Types
enum	{   STOPPED, MOVING_HOME, MOVING_UP, MOVING_DOWN,   ANALYZING, DONE }
Public Member Functions
void	analysis ()
	Perform the test analysis.
bool	done ()
	HysteresisController ()
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.
void	update ()
	Issues commands to the joint to perform hysteresis test.
	~HysteresisController ()
Private Member Functions
bool	turn ()
Private Attributes
bool	complete
bool	data_sent_
int	down_count_
boost::scoped_ptr < realtime_tools::RealtimePublisher < joint_qualification_controllers::HysteresisData > >	hyst_pub_
double	initial_position_
ros::Time	initial_time_
pr2_mechanism_model::JointState *	joint_
double	last_publish_time_
double	max_effort_
pr2_mechanism_model::RobotState *	robot_
int	starting_count_
int	state_
joint_qualification_controllers::HysteresisData	test_data_
double	timeout_
int	up_count_
double	velocity_
controller::JointVelocityController *	velocity_controller_

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Detailed Description

Hystersis Controller.

This tests the hysteresis of a joint using a velocity controller.

Definition at line 57 of file hysteresis_controller.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

STOPPED
MOVING_HOME
MOVING_UP
MOVING_DOWN
ANALYZING
DONE

Definition at line 58 of file hysteresis_controller.h.

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Constructor & Destructor Documentation

HysteresisController::HysteresisController

(

)

Definition at line 48 of file hysteresis_controller.cpp.

HysteresisController::~HysteresisController

(

)

Definition at line 92 of file hysteresis_controller.cpp.

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Member Function Documentation

void HysteresisController::analysis

(

)

Perform the test analysis.

Definition at line 318 of file hysteresis_controller.cpp.

bool joint_qualification_controllers::HysteresisController::done

(

)

[inline]

Definition at line 90 of file hysteresis_controller.h.

bool HysteresisController::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 97 of file hysteresis_controller.cpp.

bool HysteresisController::sendData

(

)

Sends data, returns true if sent.

Definition at line 339 of file hysteresis_controller.cpp.

void HysteresisController::starting

(

)

Called when controller is started.

Definition at line 212 of file hysteresis_controller.cpp.

bool HysteresisController::turn

(

)

[private]

Definition at line 301 of file hysteresis_controller.cpp.

void HysteresisController::update

(

)

Issues commands to the joint to perform hysteresis test.

Definition at line 220 of file hysteresis_controller.cpp.

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Member Data Documentation

bool joint_qualification_controllers::HysteresisController::complete [private]

Definition at line 104 of file hysteresis_controller.h.

bool joint_qualification_controllers::HysteresisController::data_sent_ [private]

Definition at line 111 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::down_count_ [private]

Definition at line 103 of file hysteresis_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData> > joint_qualification_controllers::HysteresisController::hyst_pub_ [private]

Definition at line 116 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::initial_position_ [private]

Definition at line 102 of file hysteresis_controller.h.

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

Start time of the test.

Definition at line 101 of file hysteresis_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::HysteresisController::joint_ [private]

Joint we're controlling.

Definition at line 96 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::last_publish_time_ [private]

Definition at line 113 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::max_effort_ [private]

Maximum allowable effort.

Definition at line 100 of file hysteresis_controller.h.

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

Pointer to robot structure.

Definition at line 97 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::starting_count_ [private]

Definition at line 109 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::state_ [private]

Definition at line 108 of file hysteresis_controller.h.

joint_qualification_controllers::HysteresisData joint_qualification_controllers::HysteresisController::test_data_ [private]

Definition at line 94 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::timeout_ [private]

Definition at line 106 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::up_count_ [private]

Definition at line 103 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::velocity_ [private]

Velocity during the test.

Definition at line 99 of file hysteresis_controller.h.

controller::JointVelocityController* joint_qualification_controllers::HysteresisController::velocity_controller_ [private]

The velocity controller for the hysteresis test.

Definition at line 98 of file hysteresis_controller.h.

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

• hysteresis_controller.h
• hysteresis_controller.cpp