joint_effort_controller.cpp
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00034 
00035 #include "robot_mechanism_controllers/joint_effort_controller.h"
00036 #include "pluginlib/class_list_macros.h"
00037 
00038 PLUGINLIB_EXPORT_CLASS( controller::JointEffortController, pr2_controller_interface::Controller)
00039 
00040 namespace controller {
00041 
00042 JointEffortController::JointEffortController()
00043 : joint_state_(NULL), command_(0), robot_(NULL)
00044 {
00045 }
00046 
00047 JointEffortController::~JointEffortController()
00048 {
00049   sub_command_.shutdown();
00050 }
00051 
00052 bool JointEffortController::init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name)
00053 {
00054   if (!robot)
00055   {
00056     ROS_ERROR("The given robot was NULL");
00057     return false;
00058   }
00059   robot_ = robot;
00060 
00061   joint_state_ = robot_->getJointState(joint_name);
00062   if (!joint_state_)
00063   {
00064     ROS_ERROR("JointEffortController could not find joint named \"%s\"",
00065             joint_name.c_str());
00066     return false;
00067   }
00068 
00069   return true;
00070 }
00071 
00072 bool JointEffortController::init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
00073 {
00074   assert(robot);
00075   node_ = n;
00076   robot_ = robot;
00077 
00078   std::string joint_name;
00079   if (!node_.getParam("joint", joint_name))
00080   {
00081     ROS_ERROR("No joint given (namespace: %s)", node_.getNamespace().c_str());
00082     return false;
00083   }
00084 
00085   if (!(joint_state_ = robot_->getJointState(joint_name)))
00086   {
00087     ROS_ERROR("Could not find joint \"%s\" (namespace: %s)",
00088               joint_name.c_str(), node_.getNamespace().c_str());
00089     return false;
00090   }
00091 
00092   sub_command_ = node_.subscribe<std_msgs::Float64>(
00093     "command", 1, &JointEffortController::commandCB, this);
00094 
00095   return true;
00096 }
00097 
00098 void JointEffortController::update()
00099 {
00100   joint_state_->commanded_effort_ += command_;
00101 }
00102 
00103 void JointEffortController::commandCB(const std_msgs::Float64ConstPtr& msg)
00104 {
00105   command_ = msg->data;
00106 }
00107 
00108 }


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:37