tulip_controller_namespace::tulip_controller_class Class Reference

#include <tulip_controller.h>

Inheritance diagram for tulip_controller_namespace::tulip_controller_class:

Classes
struct	exp_properties
struct	init_model_state_properties
struct	orientation_2types
struct	pose_properties
struct	push_properties
struct	quat_prop
struct	rpy_prop
struct	twist_properties
struct	xyz
Public Member Functions
virtual bool	applyForcetoRobot (gazebo_msgs::ApplyBodyWrench &srv_wrench, ros::NodeHandle &n)
virtual double	getBacklashPosition (std::vector< pr2_mechanism_model::JointState * > &backlash_state, int i)
virtual double	getBacklashVelocity (std::vector< pr2_mechanism_model::JointState * > &backlash_state, int i)
virtual bool	getExpPar (std::string exp_name, exp_properties &exp_var, ros::NodeHandle &n)
virtual bool	getRobotState (gazebo_msgs::GetModelState &srv_getstate, rpy_prop &cur_orient_rpy, ros::NodeHandle &n)
virtual bool	getXyzPar (std::string xyz_name, xyz &xyz_var, ros::NodeHandle &n)
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Controller initialization in non-realtime.
virtual bool	setExpState (exp_properties exp_var, ros::NodeHandle &n)
virtual void	starting ()
	Controller startup in realtime.
virtual void	stopping ()
	Controller stopping in realtime.
virtual void	update ()
	Controller update loop in realtime.
Private Member Functions
bool	capture ()
	Service call to capture and extract the data.
Private Attributes
std::vector < pr2_mechanism_model::JointState * >	backlash_state
volatile int	cycle_index_
std::vector< exp_properties >	exp
std::vector< std::string >	joint_name
std::vector< double >	joint_pos_current
std::vector< double >	joint_pos_desired
std::vector< double >	joint_pos_feedback
std::vector< double >	joint_pos_init
std::vector < pr2_mechanism_model::JointState * >	joint_state
ros::Publisher	joint_state_pub_
std::vector< control_toolbox::Pid >	pid_controller
bool	published_jointdata
pr2_mechanism_model::RobotState *	robot_
tulip_gazebo::joint_state_message	storage_ [StoreLen]
volatile int	storage_index_
ros::Time	time_of_first_cycle_
ros::Time	time_of_previous_cycle_

Detailed Description

Definition at line 91 of file tulip_controller.h.

Member Function Documentation

bool tulip_controller_namespace::tulip_controller_class::applyForcetoRobot	(	gazebo_msgs::ApplyBodyWrench &	srv_wrench,
		ros::NodeHandle &	n
	)			`[virtual]`

Definition at line 176 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::capture ( ) [private]

Service call to capture and extract the data.

Definition at line 265 of file tulip_controller.cpp.

double tulip_controller_namespace::tulip_controller_class::getBacklashPosition	(	std::vector< pr2_mechanism_model::JointState * > &	backlash_state,
		int	i
	)			`[virtual]`

Definition at line 196 of file tulip_controller_functions.cpp.

double tulip_controller_namespace::tulip_controller_class::getBacklashVelocity	(	std::vector< pr2_mechanism_model::JointState * > &	backlash_state,
		int	i
	)			`[virtual]`

Definition at line 203 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::getExpPar	(	std::string	exp_name,
		exp_properties &	exp_var,
		ros::NodeHandle &	n
	)			`[virtual]`

Definition at line 62 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::getRobotState	(	gazebo_msgs::GetModelState &	srv_getstate,
		rpy_prop &	cur_orient_rpy,
		ros::NodeHandle &	n
	)			`[virtual]`