controller::TriggerController Class Reference

#include <trigger_controller.h>

Inheritance diagram for controller::TriggerController:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	TriggerController ()
void	update ()
	~TriggerController ()
Static Public Member Functions
static double	getTick (const ros::Time &t, trigger_configuration const &config)
	Convert time to an unrolled phase (in cycles).
static double	getTick (double t, trigger_configuration const &config)
	Convert time to an unrolled phase (in cycles).
static ros::Duration	getTickDuration (trigger_configuration &config)
	Gets the time during which the output will be active during each cycle.
static double	getTickDurationSec (trigger_configuration &config)
	Gets the time during which the output will be active during each cycle.
static ros::Time	getTickStartTime (ros::Time time, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts.
static ros::Time	getTickStartTimeFromPhase (double tick, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts.
static double	getTickStartTimeSec (double time, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts.
static double	getTickStartTimeSecFromPhase (double tick, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts.
Private Member Functions
double	getTick ()
bool	setWaveformSrv (trigger_configuration &req, ethercat_trigger_controllers::SetWaveform::Response &resp)
Private Attributes
std::string	actuator_name_
trigger_configuration	config_
pr2_hardware_interface::DigitalOutCommand *	digital_out_command_
boost::scoped_ptr < realtime_tools::RealtimePublisher < roslib::Header > >	falling_edge_pub_
bool	last_out_
ros::NodeHandle	node_handle_
double	prev_tick_
boost::scoped_ptr < realtime_tools::RealtimePublisher < roslib::Header > >	rising_edge_pub_
pr2_mechanism_model::RobotState *	robot_
ros::ServiceServer	set_waveform_handle_

Detailed Description

Definition at line 58 of file trigger_controller.h.

Constructor & Destructor Documentation

TriggerController::TriggerController ( )

Definition at line 69 of file trigger_controller.cpp.

TriggerController::~TriggerController ( )

Definition at line 74 of file trigger_controller.cpp.

Member Function Documentation

double TriggerController::getTick ( ) [private]

Definition at line 78 of file trigger_controller.cpp.

static double controller::TriggerController::getTick	(	const ros::Time &	t,
		trigger_configuration const &	config
	)			`[inline, static]`

Convert time to an unrolled phase (in cycles).

At time 0, the unrolled phase is equal to -config.phase. Thereafter, phase increases at a rate of 1/config.rep_rate. This function returns the unrolled phase.

Parameters:

	t	Time for which the phase should be evaluated.
	config	Trigger configuration for which the phase should be evaluated.

Returns:: Unrolled phase in cycles.

Definition at line 101 of file trigger_controller.h.

static double controller::TriggerController::getTick	(	double	t,
		trigger_configuration const &	config
	)			`[inline, static]`

Convert time to an unrolled phase (in cycles).

At time 0, the unrolled phase is equal to -config.phase. Thereafter, phase increases at a rate of 1/config.rep_rate.

Parameters:

	t	Time for which the phase should be evaluated.
	config	Trigger configuration for which the phase should be evaluated.

Returns:: Unrolled phase in cycles.

Definition at line 82 of file trigger_controller.h.

static ros::Duration controller::TriggerController::getTickDuration ( trigger_configuration & config ) [inline, static]

Gets the time during which the output will be active during each cycle.

This function determines how much time the output is active for during each cycle.

Parameters:

config

Trigger configuration for which the cycle start should be evaluated.

Returns:: Cycle start time.

Definition at line 194 of file trigger_controller.h.

static double controller::TriggerController::getTickDurationSec ( trigger_configuration & config ) [inline, static]

Gets the time during which the output will be active during each cycle.

This function determines how much time the output is active for during each cycle.

Parameters:

config

Trigger configuration for which the cycle start should be evaluated.

Returns:: Cycle start time.

Definition at line 211 of file trigger_controller.h.

static ros::Time controller::TriggerController::getTickStartTime	(	ros::Time	time,
		trigger_configuration const &	config
	)			`[inline, static]`

Gets the ros::Time at which a cycle starts.

This function takes a time, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:

	tick	Time for which to perform the computation.
	config	Trigger configuration for which the cycle start should be evaluated.

Returns:: Cycle start time.

Definition at line 158 of file trigger_controller.h.

static ros::Time controller::TriggerController::getTickStartTimeFromPhase	(	double	tick,
		trigger_configuration const &	config
	)			`[inline, static]`

Gets the ros::Time at which a cycle starts.

This function takes an unrolled phase, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:

	tick	Unrolled phase.
	config	Trigger configuration for which the cycle start should be evaluated.

Returns:: Cycle start time.

Definition at line 139 of file trigger_controller.h.

static double controller::TriggerController::getTickStartTimeSec	(	double	time,
		trigger_configuration const &	config
	)			`[inline, static]`

Gets the ros::Time at which a cycle starts.

This function takes a time, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:

	tick	Time for which to perform the computation.
	config	Trigger configuration for which the cycle start should be evaluated.

Returns:: Cycle start time.

Definition at line 177 of file trigger_controller.h.

static double controller::TriggerController::getTickStartTimeSecFromPhase	(	double	tick,
		trigger_configuration const &	config
	)			`[inline, static]`

Gets the ros::Time at which a cycle starts.

This function takes an unrolled phase, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters: