controller::Pr2BaseController Class Reference

#include <pr2_base_controller.h>

Public Member Functions
geometry_msgs::Twist	getCommand ()
	Returns the current position command.
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Pr2BaseController ()
	Default Constructor of the Pr2BaseController class.
void	setCommand (const geometry_msgs::Twist &cmd_vel)
void	setDesiredCasterSteer ()
	set the desired caster steer
void	setJointCommands ()
	set the joint commands
void	starting ()
void	update ()
	(a) Updates commands to caster and wheels. Called every timestep in realtime
	~Pr2BaseController ()
	Destructor of the Pr2BaseController class.
Public Attributes
BaseKinematics	base_kin_
	class where the robot's information is computed and stored
pthread_mutex_t	pr2_base_controller_lock_
	mutex lock for setting and getting commands
Private Member Functions
void	commandCallback (const geometry_msgs::TwistConstPtr &msg)
	deal with Twist commands
void	computeDesiredCasterSteer (const double &dT)
	computes the desired caster speeds given the desired base speed
void	computeDesiredWheelSpeeds ()
	computes the desired wheel speeds given the desired base speed
void	computeJointCommands (const double &dT)
	computes the desired caster steers and wheel speeds
geometry_msgs::Twist	interpolateCommand (const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT)
	interpolates velocities within a given time based on maximum accelerations
void	publishState (const ros::Time &current_time)
	Publish the state.
void	setDesiredWheelSpeeds ()
	sends the desired wheel speeds to the wheel controllers
void	updateJointControllers ()
	tells the wheel and caster controllers to update their speeds
Private Attributes
double	alpha_stall_
	low pass filter value used for finding stalls
geometry_msgs::Twist	base_vel_msg_
	callback message, used to remember where the base is commanded to go
std::vector< boost::shared_ptr < JointVelocityController > >	caster_controller_
	vector that stores the caster controllers
std::vector< control_toolbox::Pid >	caster_position_pid_
	The pid controllers for caster position.
filters::MultiChannelTransferFunctionFilter < double >	caster_vel_filter_
ros::Time	cmd_received_timestamp_
	timestamp corresponding to when the command received by the node
ros::Subscriber	cmd_sub_
ros::Subscriber	cmd_sub_deprecated_
geometry_msgs::Twist	cmd_vel_
	speed command vector used internally to represent the current commanded speed
double	cmd_vel_rot_eps_
	minimum rotational velocity value allowable
geometry_msgs::Twist	cmd_vel_t_
	Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller.
double	cmd_vel_trans_eps_
	minimum tranlational velocity value allowable
geometry_msgs::Twist	desired_vel_
	Input speed command vector represents the desired speed requested by the node.
double	eps_
	generic epsilon value that is used as a minimum or maximum allowable input value
std::vector< double >	filtered_velocity_
double	kp_caster_steer_
	local gain used for speed control of the caster (to achieve resultant position control)
ros::Time	last_publish_time_
	Time interval between state publishing.
ros::Time	last_time_
	time corresponding to when update was last called
geometry_msgs::Twist	max_accel_
	acceleration limits specified externally
double	max_rotational_velocity_
	maximum rotational velocity magnitude allowable
double	max_translational_velocity_
	maximum translational velocity magnitude allowable
geometry_msgs::Twist	max_vel_
	velocity limits specified externally
bool	new_cmd_available_
	true when new command received by node
ros::NodeHandle	node_
bool	publish_state_
ros::NodeHandle	root_handle_
double	state_publish_rate_
double	state_publish_time_
	Time interval between state publishing.
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_mechanism_controllers::BaseControllerState > >	state_publisher_
	publishes information about the caster and wheel controllers
double	timeout_
	timeout specifying time that the controller waits before setting the current velocity command to zero
std::vector< boost::shared_ptr < JointVelocityController > >	wheel_controller_
	vector that stores the wheel controllers

Detailed Description

Definition at line 53 of file pr2_base_controller.h.

Constructor & Destructor Documentation

controller::Pr2BaseController::Pr2BaseController ( )

Default Constructor of the Pr2BaseController class.

Definition at line 43 of file pr2_base_controller.cpp.

controller::Pr2BaseController::~Pr2BaseController ( )

Destructor of the Pr2BaseController class.

Definition at line 64 of file pr2_base_controller.cpp.

Member Function Documentation

void controller::Pr2BaseController::commandCallback ( const geometry_msgs::TwistConstPtr & msg ) [private]

deal with Twist commands

Definition at line 463 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::computeDesiredCasterSteer ( const double & dT ) [private]

computes the desired caster speeds given the desired base speed

Definition at line 369 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::computeDesiredWheelSpeeds ( ) [private]

computes the desired wheel speeds given the desired base speed

Definition at line 418 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::computeJointCommands ( const double & dT ) [private]

computes the desired caster steers and wheel speeds

Definition at line 353 of file pr2_base_controller.cpp.

geometry_msgs::Twist controller::Pr2BaseController::getCommand ( )

Returns the current position command.

Returns:: Current velocity command

Definition at line 249 of file pr2_base_controller.cpp.

bool controller::Pr2BaseController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

Definition at line 70 of file pr2_base_controller.cpp.

geometry_msgs::Twist controller::Pr2BaseController::interpolateCommand	(	const geometry_msgs::Twist &	start,
		const geometry_msgs::Twist &	end,
		const geometry_msgs::Twist &	max_rate,
		const double &	dT
	)			`[private]`

interpolates velocities within a given time based on maximum accelerations

Definition at line 210 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::publishState ( const ros::Time & current_time ) [private]

Publish the state.

Definition at line 313 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::setCommand ( const geometry_msgs::Twist & cmd_vel )

Definition at line 177 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::setDesiredCasterSteer ( )

set the desired caster steer

Definition at line 410 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::setDesiredWheelSpeeds ( ) [private]

sends the desired wheel speeds to the wheel controllers

Definition at line 447 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::setJointCommands ( )

set the joint commands

Definition at line 362 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::starting ( )

Definition at line 260 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::update ( )

(a) Updates commands to caster and wheels. Called every timestep in realtime

Definition at line 274 of file pr2_base_controller.cpp.

void controller::Pr2BaseController::updateJointControllers ( ) [private]

tells the wheel and caster controllers to update their speeds

Definition at line 455 of file pr2_base_controller.cpp.

Member Data Documentation

double controller::Pr2BaseController::alpha_stall_ [private]

low pass filter value used for finding stalls

Definition at line 190 of file pr2_base_controller.h.

BaseKinematics controller::Pr2BaseController::base_kin_

class where the robot's information is computed and stored

Returns:: BaseKinematic instance that is being used by this controller

Definition at line 93 of file pr2_base_controller.h.

geometry_msgs::Twist controller::Pr2BaseController::base_vel_msg_ [private]

callback message, used to remember where the base is commanded to go

Definition at line 245 of file pr2_base_controller.h.

std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController::caster_controller_ [private]

vector that stores the caster controllers

Definition at line 200 of file pr2_base_controller.h.

std::vector<control_toolbox::Pid> controller::Pr2BaseController::caster_position_pid_ [private]

The pid controllers for caster position.

Definition at line 283 of file pr2_base_controller.h.

filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController::caster_vel_filter_ [private]

Definition at line 285 of file pr2_base_controller.h.

ros::Time controller::Pr2BaseController::cmd_received_timestamp_ [private]

timestamp corresponding to when the command received by the node

Definition at line 144 of file pr2_base_controller.h.

ros::Subscriber controller::Pr2BaseController::cmd_sub_ [private]

Definition at line 122 of file pr2_base_controller.h.

ros::Subscriber controller::Pr2BaseController::cmd_sub_deprecated_ [private]

Definition at line 124 of file pr2_base_controller.h.

geometry_msgs::Twist controller::Pr2BaseController::cmd_vel_ [private]

speed command vector used internally to represent the current commanded speed

Definition at line 155 of file pr2_base_controller.h.

double controller::Pr2BaseController::cmd_vel_rot_eps_ [private]

minimum rotational velocity value allowable

Definition at line 255 of file pr2_base_controller.h.

geometry_msgs::Twist controller::Pr2BaseController::cmd_vel_t_ [private]

Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller.

Definition at line 150 of file pr2_base_controller.h.

double controller::Pr2BaseController::cmd_vel_trans_eps_ [private]

minimum tranlational velocity value allowable

Definition at line 270 of file pr2_base_controller.h.

geometry_msgs::Twist controller::Pr2BaseController::desired_vel_ [private]

Input speed command vector represents the desired speed requested by the node.

Definition at line 160 of file pr2_base_controller.h.

double controller::Pr2BaseController::eps_ [private]

generic epsilon value that is used as a minimum or maximum allowable input value

Definition at line 250 of file pr2_base_controller.h.

std::vector<double> controller::Pr2BaseController::filtered_velocity_ [private]

Definition at line 287 of file pr2_base_controller.h.