#include <gripper_calibration_controller.h>
Public Member Functions | |
GripperCalibrationController () | |
virtual bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
bool | isCalibrated (pr2_controllers_msgs::QueryCalibrationState::Request &req, pr2_controllers_msgs::QueryCalibrationState::Response &resp) |
virtual void | starting () |
virtual void | update () |
~GripperCalibrationController () | |
Protected Types | |
enum | { INITIALIZED, BEGINNING, STARTING, CLOSING, BACK_OFF, CLOSING_SLOWLY, CALIBRATED } |
Protected Attributes | |
pr2_hardware_interface::Actuator * | actuator_ |
int | count_ |
double | init_time |
ros::ServiceServer | is_calibrated_srv_ |
pr2_mechanism_model::JointState * | joint_ |
ros::Time | last_publish_time_ |
ros::NodeHandle | node_ |
std::vector < pr2_mechanism_model::JointState * > | other_joints_ |
boost::scoped_ptr < realtime_tools::RealtimePublisher < std_msgs::Empty > > | pub_calibrated_ |
pr2_mechanism_model::RobotState * | robot_ |
double | search_velocity_ |
int | state_ |
int | stop_count_ |
double | stopped_velocity_tolerance_ |
controller::JointVelocityController | vc_ |
Definition at line 48 of file gripper_calibration_controller.h.
anonymous enum [protected] |
Definition at line 63 of file gripper_calibration_controller.h.
controller::GripperCalibrationController::GripperCalibrationController | ( | ) |
controller::GripperCalibrationController::~GripperCalibrationController | ( | ) |
virtual bool controller::GripperCalibrationController::init | ( | pr2_mechanism_model::RobotState * | robot, | |
ros::NodeHandle & | n | |||
) | [virtual] |
bool controller::GripperCalibrationController::isCalibrated | ( | pr2_controllers_msgs::QueryCalibrationState::Request & | req, | |
pr2_controllers_msgs::QueryCalibrationState::Response & | resp | |||
) |
virtual void controller::GripperCalibrationController::starting | ( | ) | [virtual] |
virtual void controller::GripperCalibrationController::update | ( | ) | [virtual] |
pr2_hardware_interface::Actuator* controller::GripperCalibrationController::actuator_ [protected] |
Definition at line 75 of file gripper_calibration_controller.h.
int controller::GripperCalibrationController::count_ [protected] |
Definition at line 65 of file gripper_calibration_controller.h.
double controller::GripperCalibrationController::init_time [protected] |
Definition at line 79 of file gripper_calibration_controller.h.
ros::ServiceServer controller::GripperCalibrationController::is_calibrated_srv_ [protected] |
Definition at line 71 of file gripper_calibration_controller.h.
pr2_mechanism_model::JointState* controller::GripperCalibrationController::joint_ [protected] |
Definition at line 76 of file gripper_calibration_controller.h.
ros::Time controller::GripperCalibrationController::last_publish_time_ [protected] |
Definition at line 70 of file gripper_calibration_controller.h.
ros::NodeHandle controller::GripperCalibrationController::node_ [protected] |
Definition at line 68 of file gripper_calibration_controller.h.
std::vector<pr2_mechanism_model::JointState*> controller::GripperCalibrationController::other_joints_ [protected] |
Definition at line 77 of file gripper_calibration_controller.h.
boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > controller::GripperCalibrationController::pub_calibrated_ [protected] |
Definition at line 72 of file gripper_calibration_controller.h.
pr2_mechanism_model::RobotState* controller::GripperCalibrationController::robot_ [protected] |
Definition at line 69 of file gripper_calibration_controller.h.
double controller::GripperCalibrationController::search_velocity_ [protected] |
Definition at line 74 of file gripper_calibration_controller.h.
int controller::GripperCalibrationController::state_ [protected] |
Definition at line 64 of file gripper_calibration_controller.h.
int controller::GripperCalibrationController::stop_count_ [protected] |
Definition at line 66 of file gripper_calibration_controller.h.
double controller::GripperCalibrationController::stopped_velocity_tolerance_ [protected] |
Definition at line 80 of file gripper_calibration_controller.h.
controller::JointVelocityController controller::GripperCalibrationController::vc_ [protected] |
Definition at line 82 of file gripper_calibration_controller.h.