Compensate the tendon friction by adding a given value depending on the sign of the force demand. More...
#include <ros/node_handle.h>#include <boost/scoped_ptr.hpp>#include <utility>#include <pr2_controller_interface/controller.h>#include <control_toolbox/pid.h>#include <boost/thread/condition.hpp>#include <realtime_tools/realtime_publisher.h>#include <std_msgs/Float64.h>#include <pr2_controllers_msgs/JointControllerState.h>#include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>#include <sr_utilities/calibration.hpp>
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Classes | |
| class | sr_friction_compensation::SrFrictionCompensator |
Namespaces | |
| namespace | sr_friction_compensation |
Compensate the tendon friction by adding a given value depending on the sign of the force demand.
Copyright 2011 Shadow Robot Company Ltd.
This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
Definition in file sr_friction_compensation.hpp.