dynamixel_controllers::joint_torque_controller::JointTorqueController Class Reference

Inheritance diagram for dynamixel_controllers::joint_torque_controller::JointTorqueController:

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List of all members.

Public Member Functions
def	__init__
def	initialize
def	process_command
def	process_motor_states
def	set_compliance_margin
def	set_compliance_punch
def	set_compliance_slope
def	set_speed
def	set_torque_enable
def	set_torque_limit
def	spd_rad_to_raw
Public Attributes
	ENCODER_RESOLUTION
	ENCODER_TICKS_PER_RADIAN
	flipped
	initial_position_raw
	joint_max_speed
	joint_speed
	joint_state
	last_commanded_torque
	max_angle
	max_angle_raw
	MAX_POSITION
	MAX_VELOCITY
	min_angle
	min_angle_raw
	MIN_VELOCITY
	motor_id
	RADIANS_PER_ENCODER_TICK
	VELOCITY_PER_TICK

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Detailed Description

Definition at line 57 of file joint_torque_controller.py.

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Member Function Documentation

def dynamixel_controllers::joint_torque_controller::JointTorqueController::__init__	(		self,
			dxl_io,
			controller_namespace,
			port_namespace
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 58 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::initialize

(

self

)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 71 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::process_command	(		self,
			msg
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 171 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::process_motor_states	(		self,
			state_list
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 155 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::set_compliance_margin	(		self,
			margin
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 134 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::set_compliance_punch	(		self,
			punch
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 141 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::set_compliance_slope	(		self,
			slope
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 128 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::set_speed	(		self,
			speed
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 124 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::set_torque_enable	(		self,
			torque_enable
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 120 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::set_torque_limit	(		self,
			max_torque
	)

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 148 of file joint_torque_controller.py.

def dynamixel_controllers::joint_torque_controller::JointTorqueController::spd_rad_to_raw	(		self,
			spd_rad
	)

Definition at line 114 of file joint_torque_controller.py.

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Member Data Documentation

dynamixel_controllers::joint_torque_controller::JointTorqueController::ENCODER_RESOLUTION

Definition at line 91 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::ENCODER_TICKS_PER_RADIAN

Definition at line 82 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::flipped

Definition at line 66 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::initial_position_raw

Definition at line 62 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::joint_max_speed

Definition at line 102 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::joint_speed

Reimplemented from dynamixel_controllers::joint_controller::JointController.

Definition at line 107 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::joint_state

Definition at line 69 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::last_commanded_torque

Definition at line 67 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::max_angle

Definition at line 86 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::max_angle_raw

Definition at line 64 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::MAX_POSITION

Definition at line 92 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::MAX_VELOCITY

Definition at line 94 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::min_angle

Definition at line 85 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::min_angle_raw

Definition at line 63 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::MIN_VELOCITY

Definition at line 95 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::motor_id

Definition at line 61 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::RADIANS_PER_ENCODER_TICK

Definition at line 81 of file joint_torque_controller.py.

dynamixel_controllers::joint_torque_controller::JointTorqueController::VELOCITY_PER_TICK

Definition at line 93 of file joint_torque_controller.py.

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

• joint_torque_controller.py