Public Member Functions
void	clearFaults ()
const r2_msgs::JointStatus &	getJointStatus () const
	JointController (physics::JointPtr _jointPtr, bool _advancedMode=false)
void	releaseBrake (bool release=true)
void	setEffortTarget (double target)
void	setJointControl (const r2_msgs::JointControl::ConstPtr &msg)
void	setPosPid (double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void	setPosTarget (double target)
void	setVelPid (double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void	setVelTarget (double target)
void	update (common::Time &stepTime)
	~JointController ()
Private Types
enum	JointControlMode { POS_COM = 0, TORQ_COM = 1, IMP_COM = 2, VEL_COM = 3 }
enum	JointFault { OK = 0 }
Private Attributes
bool	advancedMode
boost::mutex	controllerMutex
JointControlMode	controlMode
r2_msgs::JointStatusPtr	currStatusPtr
double	effort
JointFault	fault
double	jointHighLimit
double	jointLowLimit
physics::JointPtr	jointPtr
double	position
common::PID	posPid
double	velocity
common::PID	velPid

Detailed Description

Definition at line 19 of file JointController.h.

Member Enumeration Documentation

Enumerator:

Definition at line 63 of file JointController.h.

Enumerator:

OK

Definition at line 64 of file JointController.h.

JointController::JointController	(	physics::JointPtr	_jointPtr,
		bool	_advancedMode = `false`
	)

Definition at line 10 of file JointController.cpp.

JointController::~JointController ( )

Definition at line 37 of file JointController.cpp.

void JointController::clearFaults ( )

Definition at line 168 of file JointController.cpp.

const r2_msgs::JointStatus & JointController::getJointStatus ( ) const

Definition at line 163 of file JointController.cpp.

void JointController::releaseBrake ( bool release = true )

Definition at line 175 of file JointController.cpp.

void JointController::setEffortTarget ( double target )

Definition at line 79 of file JointController.cpp.

void JointController::setJointControl ( const r2_msgs::JointControl::ConstPtr & msg )

Definition at line 137 of file JointController.cpp.

void JointController::setPosPid	(	double	_p = `0.0`,
		double	_i = `0.0`,
		double	_d = `0.0`,
		double	_imax = `0.0`,
		double	_imin = `0.0`,
		double	_cmdMax = `0.0`,
		double	_cmdMin = `0.0`
	)

Definition at line 41 of file JointController.cpp.

void JointController::setPosTarget ( double target )

Definition at line 55 of file JointController.cpp.

void JointController::setVelPid	(	double	_p = `0.0`,
		double	_i = `0.0`,
		double	_d = `0.0`,
		double	_imax = `0.0`,
		double	_imin = `0.0`,
		double	_cmdMax = `0.0`,
		double	_cmdMin = `0.0`
	)