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#include <pr2_base_controller2.h>
Public Member Functions | |
geometry_msgs::Twist | getCommand () |
Returns the current position command. | |
bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
Pr2BaseController2 () | |
Default Constructor of the Pr2BaseController2 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 | |
~Pr2BaseController2 () | |
Destructor of the Pr2BaseController2 class. | |
Public Attributes | |
BaseKinematics | base_kinematics_ |
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 (const double &dT) |
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 ¤t_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_ |
std::vector< double > | filtered_wheel_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::BaseControllerState2 > > | 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 | |
std::vector< control_toolbox::Pid > | wheel_pid_controllers_ |
The pid controllers for caster position. | |
filters::MultiChannelTransferFunctionFilter < double > | wheel_vel_filter_ |
Definition at line 55 of file pr2_base_controller2.h.
controller::Pr2BaseController2::Pr2BaseController2 | ( | ) |
Default Constructor of the Pr2BaseController2 class.
Definition at line 47 of file pr2_base_controller2.cpp.
controller::Pr2BaseController2::~Pr2BaseController2 | ( | ) |
Destructor of the Pr2BaseController2 class.
Definition at line 68 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::commandCallback | ( | const geometry_msgs::TwistConstPtr & | msg | ) | [private] |
deal with Twist commands
Definition at line 488 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::computeDesiredCasterSteer | ( | const double & | dT | ) | [private] |
computes the desired caster speeds given the desired base speed
Definition at line 381 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::computeDesiredWheelSpeeds | ( | const double & | dT | ) | [private] |
computes the desired wheel speeds given the desired base speed
Definition at line 434 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::computeJointCommands | ( | const double & | dT | ) | [private] |
computes the desired caster steers and wheel speeds
Definition at line 365 of file pr2_base_controller2.cpp.
geometry_msgs::Twist controller::Pr2BaseController2::getCommand | ( | ) |
Returns the current position command.
Definition at line 260 of file pr2_base_controller2.cpp.
bool controller::Pr2BaseController2::init | ( | pr2_mechanism_model::RobotState * | robot, | |
ros::NodeHandle & | n | |||
) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 74 of file pr2_base_controller2.cpp.
geometry_msgs::Twist controller::Pr2BaseController2::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 221 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::publishState | ( | const ros::Time & | current_time | ) | [private] |
Publish the state.
Definition at line 324 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::setCommand | ( | const geometry_msgs::Twist & | cmd_vel | ) |
Definition at line 188 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::setDesiredCasterSteer | ( | ) |
set the desired caster steer
Definition at line 426 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::setDesiredWheelSpeeds | ( | ) | [private] |
sends the desired wheel speeds to the wheel controllers
Definition at line 472 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::setJointCommands | ( | ) |
set the joint commands
Definition at line 374 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::starting | ( | ) | [virtual] |
Reimplemented from pr2_controller_interface::Controller.
Definition at line 271 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::update | ( | void | ) | [virtual] |
(a) Updates commands to caster and wheels. Called every timestep in realtime
Implements pr2_controller_interface::Controller.
Definition at line 285 of file pr2_base_controller2.cpp.
void controller::Pr2BaseController2::updateJointControllers | ( | ) | [private] |
tells the wheel and caster controllers to update their speeds
Definition at line 480 of file pr2_base_controller2.cpp.
double controller::Pr2BaseController2::alpha_stall_ [private] |
low pass filter value used for finding stalls
Definition at line 192 of file pr2_base_controller2.h.
class where the robot's information is computed and stored
Definition at line 95 of file pr2_base_controller2.h.
callback message, used to remember where the base is commanded to go
Definition at line 247 of file pr2_base_controller2.h.
std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController2::caster_controller_ [private] |
vector that stores the caster controllers
Definition at line 202 of file pr2_base_controller2.h.
std::vector<control_toolbox::Pid> controller::Pr2BaseController2::caster_position_pid_ [private] |
The pid controllers for caster position.
Definition at line 285 of file pr2_base_controller2.h.
filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController2::caster_vel_filter_ [private] |
Definition at line 287 of file pr2_base_controller2.h.
timestamp corresponding to when the command received by the node
Definition at line 146 of file pr2_base_controller2.h.
Definition at line 124 of file pr2_base_controller2.h.
Definition at line 126 of file pr2_base_controller2.h.
speed command vector used internally to represent the current commanded speed
Definition at line 157 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::cmd_vel_rot_eps_ [private] |
minimum rotational velocity value allowable
Definition at line 257 of file pr2_base_controller2.h.
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 152 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::cmd_vel_trans_eps_ [private] |
minimum tranlational velocity value allowable
Definition at line 272 of file pr2_base_controller2.h.
Input speed command vector represents the desired speed requested by the node.
Definition at line 162 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::eps_ [private] |
generic epsilon value that is used as a minimum or maximum allowable input value
Definition at line 252 of file pr2_base_controller2.h.
std::vector<double> controller::Pr2BaseController2::filtered_velocity_ [private] |
Definition at line 289 of file pr2_base_controller2.h.
std::vector<double> controller::Pr2BaseController2::filtered_wheel_velocity_ [private] |
Definition at line 293 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::kp_caster_steer_ [private] |
local gain used for speed control of the caster (to achieve resultant position control)
Definition at line 187 of file pr2_base_controller2.h.
Time interval between state publishing.
Definition at line 267 of file pr2_base_controller2.h.
time corresponding to when update was last called
Definition at line 141 of file pr2_base_controller2.h.
acceleration limits specified externally
Definition at line 172 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::max_rotational_velocity_ [private] |
maximum rotational velocity magnitude allowable
Definition at line 182 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::max_translational_velocity_ [private] |
maximum translational velocity magnitude allowable
Definition at line 177 of file pr2_base_controller2.h.
velocity limits specified externally
Definition at line 167 of file pr2_base_controller2.h.
bool controller::Pr2BaseController2::new_cmd_available_ [private] |
true when new command received by node
Definition at line 136 of file pr2_base_controller2.h.
Definition at line 120 of file pr2_base_controller2.h.
pthread_mutex_t controller::Pr2BaseController2::pr2_base_controller_lock_ |
mutex lock for setting and getting commands
Definition at line 100 of file pr2_base_controller2.h.
bool controller::Pr2BaseController2::publish_state_ [private] |
Definition at line 280 of file pr2_base_controller2.h.
Definition at line 122 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::state_publish_rate_ [private] |
Definition at line 262 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::state_publish_time_ [private] |
Time interval between state publishing.
Definition at line 262 of file pr2_base_controller2.h.
boost::scoped_ptr<realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState2> > controller::Pr2BaseController2::state_publisher_ [private] |
publishes information about the caster and wheel controllers
Definition at line 207 of file pr2_base_controller2.h.
double controller::Pr2BaseController2::timeout_ [private] |
timeout specifying time that the controller waits before setting the current velocity command to zero
Definition at line 131 of file pr2_base_controller2.h.
std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController2::wheel_controller_ [private] |
vector that stores the wheel controllers
Definition at line 197 of file pr2_base_controller2.h.
std::vector<control_toolbox::Pid> controller::Pr2BaseController2::wheel_pid_controllers_ [private] |
The pid controllers for caster position.
Definition at line 298 of file pr2_base_controller2.h.
filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController2::wheel_vel_filter_ [private] |
Definition at line 291 of file pr2_base_controller2.h.