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_

Detailed Description

Hystersis Controller.

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

Definition at line 57 of file hysteresis_controller.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
STOPPED 
MOVING_HOME 
MOVING_UP 
MOVING_DOWN 
ANALYZING 
DONE 

Definition at line 58 of file hysteresis_controller.h.


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.


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.


Member Data Documentation

Definition at line 104 of file hysteresis_controller.h.

Definition at line 111 of file hysteresis_controller.h.

Definition at line 103 of file hysteresis_controller.h.

Definition at line 116 of file hysteresis_controller.h.

Definition at line 102 of file hysteresis_controller.h.

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.

Definition at line 113 of file hysteresis_controller.h.

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.

Definition at line 109 of file hysteresis_controller.h.

Definition at line 108 of file hysteresis_controller.h.

Definition at line 94 of file hysteresis_controller.h.

Definition at line 106 of file hysteresis_controller.h.

Definition at line 103 of file hysteresis_controller.h.

Velocity during the test.

Definition at line 99 of file hysteresis_controller.h.

The velocity controller for the hysteresis test.

Definition at line 98 of file hysteresis_controller.h.


The documentation for this class was generated from the following files:
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joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Fri Jan 11 09:54:10 2013