controller::MultiJointVelocityController Class Reference

#include <multi_joint_velocity_controller.h>

Inheritance diagram for controller::MultiJointVelocityController:

List of all members.

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	MultiJointVelocityController ()
void	starting ()
void	update ()
	~MultiJointVelocityController ()
Private Member Functions
void	commandCB (const std_msgs::Float64MultiArray::ConstPtr &msg)
Private Attributes
std::vector< double >	command_
boost::mutex	command_mutex_
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointTrajectoryControllerState > >	controller_state_publisher_
std::vector < pr2_mechanism_model::JointState * >	joints_
ros::Time	last_time_
int	loop_count_
ros::NodeHandle	node_
std::vector< boost::shared_ptr < filters::FilterChain< double > > >	output_filters_
std::vector< control_toolbox::Pid >	pids_
pr2_mechanism_model::RobotState *	robot_
ros::Subscriber	sub_command_

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Detailed Description

Definition at line 59 of file multi_joint_velocity_controller.h.

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Constructor & Destructor Documentation

controller::MultiJointVelocityController::MultiJointVelocityController

(

)

Definition at line 44 of file multi_joint_velocity_controller.cpp.

controller::MultiJointVelocityController::~MultiJointVelocityController

(

)

Definition at line 49 of file multi_joint_velocity_controller.cpp.

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Member Function Documentation

void controller::MultiJointVelocityController::commandCB

(

const std_msgs::Float64MultiArray::ConstPtr &

msg

)

[private]

Definition at line 200 of file multi_joint_velocity_controller.cpp.

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

Implements pr2_controller_interface::Controller.

Definition at line 54 of file multi_joint_velocity_controller.cpp.

void controller::MultiJointVelocityController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 144 of file multi_joint_velocity_controller.cpp.

void controller::MultiJointVelocityController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 154 of file multi_joint_velocity_controller.cpp.

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Member Data Documentation

std::vector<double> controller::MultiJointVelocityController::command_ [private]

Definition at line 93 of file multi_joint_velocity_controller.h.

boost::mutex controller::MultiJointVelocityController::command_mutex_ [private]

Definition at line 92 of file multi_joint_velocity_controller.h.

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::MultiJointVelocityController::controller_state_publisher_ [private]

Definition at line 87 of file multi_joint_velocity_controller.h.

std::vector<pr2_mechanism_model::JointState*> controller::MultiJointVelocityController::joints_ [private]

Definition at line 75 of file multi_joint_velocity_controller.h.

ros::Time controller::MultiJointVelocityController::last_time_ [private]

Definition at line 74 of file multi_joint_velocity_controller.h.

int controller::MultiJointVelocityController::loop_count_ [private]

Definition at line 72 of file multi_joint_velocity_controller.h.

ros::NodeHandle controller::MultiJointVelocityController::node_ [private]

Definition at line 80 of file multi_joint_velocity_controller.h.

std::vector<boost::shared_ptr<filters::FilterChain<double> > > controller::MultiJointVelocityController::output_filters_ [private]

Definition at line 78 of file multi_joint_velocity_controller.h.

std::vector<control_toolbox::Pid> controller::MultiJointVelocityController::pids_ [private]

Definition at line 76 of file multi_joint_velocity_controller.h.

pr2_mechanism_model::RobotState* controller::MultiJointVelocityController::robot_ [private]

Definition at line 73 of file multi_joint_velocity_controller.h.

ros::Subscriber controller::MultiJointVelocityController::sub_command_ [private]

Definition at line 83 of file multi_joint_velocity_controller.h.

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The documentation for this class was generated from the following files:

• multi_joint_velocity_controller.h
• multi_joint_velocity_controller.cpp