#include <PositionController.h>

Inheritance diagram for controller::PositionController:

Classes
struct	JointStruct
Public Member Functions
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Initializes the PositionController by creating joint objects.
	PositionController ()
void	referenceCallback (const sensor_msgs::JointState::ConstPtr &msg)
	Updates the goal position of all joints.
virtual void	starting ()
	Resets all threads of the joints and sets their position.
virtual void	stopping ()
	Shuts down the subscription and advertisement of the topics.
virtual void	update ()
	Updates the effort on each joint. Also publishes a JointState message on the measurements topic.
virtual	~PositionController ()
	Destructor for PositionController.
Private Attributes
ros::Time	current_time
std::map< std::string, JointStruct * >	joint_map_
	maps the joint names to the structs
std::vector< JointStruct * >	joint_structs_
ros::Publisher	measurements_pub_
	publisher of the JointState messages
ros::NodeHandle	node_
ros::Subscriber	references_sub_
	subscriber for the messages containing the references
pr2_mechanism_model::RobotState *	robot_
	point to the robot
ros::Time	time_of_last_cycle_

Detailed Description

Definition at line 65 of file PositionController.h.

Constructor & Destructor Documentation

PositionController::PositionController ( )

Definition at line 54 of file PositionController.cpp.

PositionController::~PositionController ( ) [virtual]

Destructor for PositionController.

Removes all controllers of all joints from memory and then removes the structures that bind them from memory

Definition at line 58 of file PositionController.cpp.

Member Function Documentation

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

Initializes the PositionController by creating joint objects.

Makes a joint_struct for every joint in the robot. If no error occurs subscribes to references and advertises it wants to publish it's measurements.

Returns:: false if an error occurred, true otherwise

Parameters:

robot	a pointer to the robot
n	the handler for this nodes subscriptions and advertisements.

Implements pr2_controller_interface::Controller.

Definition at line 88 of file PositionController.cpp.

void PositionController::referenceCallback ( const sensor_msgs::JointState::ConstPtr & msg )

Updates the goal position of all joints.

Updates the reference_ values from all joints by taking into account a new JointReference message. It is safe in the regard that messages containing reference values bigger than max_pos_ or smaller than min_pos_ are set to these respective values instead.

Parameters: