#include <base_controller.h>

Inheritance diagram for controller::BaseController:

Public Member Functions
	BaseController ()
	Constructor for BaseController.
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Initializes the BaseController.
virtual void	starting ()
	Sets the position and velocity for all wheel joints. Also sets the time_of_last_cycle_ to the current robot time.
virtual void	stopping ()
	Stops the thread.
virtual void	update ()
	Updates the effort on all base joints. Also checks if the robot is standing still and takes appropriate action.
	~BaseController ()
	Deconstructor for BaseController.
Private Member Functions
geometry_msgs::Twist	interpolateCommand (const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT)
	Uses the last command received to determine a sensible current command velocity.
void	VelCallback (const geometry_msgs::Twist::ConstPtr &msg)
	Handles incoming /cmd_vel messages.
Private Attributes
pr2_mechanism_model::RobotState *	robot_
	pointer to the robot
double	timeout_
	maximum time between commands before controller resets the (reference) velocity
ros::Subscriber	vel_sub

pr2_mechanism_model::JointState *	wheel_inner_left_front_state
pr2_mechanism_model::JointState *	wheel_inner_left_rear_state
pr2_mechanism_model::JointState *	wheel_inner_right_front_state
pr2_mechanism_model::JointState *	wheel_inner_right_rear_state

double	current_pos_x
double	current_pos_y
double	current_pos_phi
double	desired_pos_x
double	desired_pos_y
double	desired_pos_phi

double	trans_vel_min
double	rot_vel_min

double	Kp_x
double	Kd_x
double	Kp_y
double	Kd_y
double	Kp_phi
double	Kd_phi

double	mass_x
double	mass_y
double	inertia_phi
double	damping_x
double	damping_y
double	damping_phi
double	u_x_max
double	u_y_max
double	u_phi_max
double	max_translational_velocity_
double	max_rotational_velocity_

geometry_msgs::Twist	cmd_vel_
geometry_msgs::Twist	ref_vel_last_
geometry_msgs::Twist	max_accel_

ros::Time	time_of_last_cycle_
ros::Time	cmd_received_timestamp_
ros::Time	current_time

Detailed Description

Definition at line 59 of file base_controller.h.

Constructor & Destructor Documentation

BaseController::BaseController ( )

Constructor for BaseController.

Definition at line 64 of file base_controller.cpp.

BaseController::~BaseController ( )

Deconstructor for BaseController.

Definition at line 81 of file base_controller.cpp.

Member Function Documentation

bool BaseController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		`[virtual]`

Initializes the BaseController.

Copies all variable values from the parameter server. Also subscribes to /cmd_vel topic.

Returns:: false as soon as an error occurs, true if none occurs

Parameters:

robot	pointer to the robot
n	the handler for this nodes subscriptions

Implements pr2_controller_interface::Controller.

Definition at line 84 of file base_controller.cpp.

geometry_msgs::Twist BaseController::interpolateCommand	(	const geometry_msgs::Twist &	start,
		const geometry_msgs::Twist &	end,
		const geometry_msgs::Twist &	max_rate,
		const double &	dT
	)		`[private]`

Uses the last command received to determine a sensible current command velocity.

Determines a sensible current command velocity based on the last command received, the current velocity and the desired velocity and the allowed acceleration.

Parameters:

start	is the last command velocity used
end	is the desired velocity
max_rate	is the maximum acceleration
dT	is the time passed since the last command velocity was used

Definition at line 347 of file base_controller.cpp.

void BaseController::starting ( ) [virtual]

Sets the position and velocity for all wheel joints. Also sets the time_of_last_cycle_ to the current robot time.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 190 of file base_controller.cpp.

void BaseController::stopping ( ) [virtual]

Stops the thread.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 308 of file base_controller.cpp.

void BaseController::update ( void ) [virtual]

Updates the effort on all base joints. Also checks if the robot is standing still and takes appropriate action.

Updates the effort on all base joints, taking into account a possible new command. If the robot is detected to stand still, sets still=true. If the still=true and the desired velocity is zero, disconnects the controller.

Implements pr2_controller_interface::Controller.

Definition at line 194 of file base_controller.cpp.

void BaseController::VelCallback ( const geometry_msgs::Twist::ConstPtr & msg ) [private]

Handles incoming /cmd_vel messages.

Automatically called when a new message is detected. Computes the limited command velocity and sets new_cmd_available to true.

Parameters: