Public Types | Public Member Functions | Private Attributes
joint_qualification_controllers::WristDifferenceController Class Reference

#include <wrist_difference_controller.h>

Inheritance diagram for joint_qualification_controllers::WristDifferenceController:
Inheritance graph
[legend]

List of all members.

Public Types

enum  {
  STARTING, LEFT, RIGHT, ANALYZING,
  DONE
}

Public Member Functions

void analysis ()
 Perform the test analysis.
bool done ()
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 Functional way to initialize.
bool sendData ()
 Sends data, returns true if sent.
void starting ()
 Called when controller is started.
void update ()
 Issues commands to the joint to perform hysteresis test.
 WristDifferenceController ()
 ~WristDifferenceController ()

Private Attributes

bool data_sent_
controller::JointPositionControllerflex_controller_
pr2_mechanism_model::JointStateflex_joint_
double flex_position_
double initial_position_
ros::Time initial_time_
int left_count_
int right_count_
pr2_mechanism_model::RobotStaterobot_
controller::JointVelocityControllerroll_controller_
pr2_mechanism_model::JointStateroll_joint_
double roll_velocity_
double sd_max_
int start_count_
int starting_count
int state_
double timeout_
double tolerance_
boost::scoped_ptr
< realtime_tools::RealtimePublisher
< joint_qualification_controllers::WristDiffData > > 
wrist_data_pub_
joint_qualification_controllers::WristDiffData wrist_test_data_

Detailed Description

Definition at line 62 of file wrist_difference_controller.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
STARTING 
LEFT 
RIGHT 
ANALYZING 
DONE 

Definition at line 66 of file wrist_difference_controller.h.


Constructor & Destructor Documentation

Definition at line 47 of file wrist_difference_controller.cpp.

Definition at line 102 of file wrist_difference_controller.cpp.


Member Function Documentation

Perform the test analysis.

Definition at line 347 of file wrist_difference_controller.cpp.

Definition at line 98 of file wrist_difference_controller.h.

Functional way to initialize.

Parameters:
*robotThe robot that is being controlled.
&nNodeHandle of mechanism control

Implements pr2_controller_interface::Controller.

Definition at line 108 of file wrist_difference_controller.cpp.

Sends data, returns true if sent.

Definition at line 377 of file wrist_difference_controller.cpp.

Called when controller is started.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 249 of file wrist_difference_controller.cpp.

void WristDifferenceController::update ( void  ) [virtual]

Issues commands to the joint to perform hysteresis test.

Implements pr2_controller_interface::Controller.

Definition at line 257 of file wrist_difference_controller.cpp.


Member Data Documentation

Definition at line 123 of file wrist_difference_controller.h.

Definition at line 107 of file wrist_difference_controller.h.

Definition at line 104 of file wrist_difference_controller.h.

Definition at line 110 of file wrist_difference_controller.h.

Definition at line 113 of file wrist_difference_controller.h.

Start time of the test.

Definition at line 112 of file wrist_difference_controller.h.

Definition at line 114 of file wrist_difference_controller.h.

Definition at line 114 of file wrist_difference_controller.h.

Definition at line 106 of file wrist_difference_controller.h.

Definition at line 108 of file wrist_difference_controller.h.

Definition at line 105 of file wrist_difference_controller.h.

Velocity during the test.

Definition at line 111 of file wrist_difference_controller.h.

Definition at line 118 of file wrist_difference_controller.h.

Definition at line 114 of file wrist_difference_controller.h.

Definition at line 121 of file wrist_difference_controller.h.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 120 of file wrist_difference_controller.h.

Definition at line 116 of file wrist_difference_controller.h.

Definition at line 117 of file wrist_difference_controller.h.

Definition at line 126 of file wrist_difference_controller.h.

Definition at line 102 of file wrist_difference_controller.h.


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


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Sat Dec 28 2013 17:29:55