controller::SrController Class Reference

#include <sr_controller.hpp>

Inheritance diagram for controller::SrController:

List of all members.

Public Member Functions
void	getCommand (double &cmd)
	Get latest position command to the joint: revolute (angle) and prismatic (position).
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
std::string	getJointName ()
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	setCommand (double cmd)
	Give set position of the joint for next update: revolute (angle) and prismatic (position)
void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	SrController ()
virtual void	starting ()
virtual void	update ()
	Issues commands to the joint. Should be called at regular intervals.
virtual	~SrController ()
Public Attributes
double	command_
ros::Duration	dt_
bool	has_j2
pr2_mechanism_model::JointState *	joint_state_
pr2_mechanism_model::JointState *	joint_state_2
Protected Member Functions
void	after_init ()
	call this function at the end of the init function in the inheriting classes.
double	clamp_command (double cmd)
void	get_min_max (urdf::Model model, std::string joint_name)
Protected Attributes
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointControllerState > >	controller_state_publisher_
boost::shared_ptr < sr_friction_compensation::SrFrictionCompensator >	friction_compensator
int	friction_deadband
	the deadband for the friction compensation algorithm
sr_deadband::HysteresisDeadband < double >	hysteresis_deadband
	We're using an hysteresis deadband.
bool	initialized_
ros::Time	last_time_
int	loop_count_
double	max_
double	max_force_demand
	clamps the force demand to this value
double	min_
	Min and max range of the joint, used to clamp the command.
ros::NodeHandle	n_tilde_
ros::NodeHandle	node_
pr2_mechanism_model::RobotState *	robot_
ros::ServiceServer	serve_reset_gains_
ros::ServiceServer	serve_set_gains_
ros::Subscriber	sub_command_

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Detailed Description

Definition at line 53 of file sr_controller.hpp.

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Constructor & Destructor Documentation

controller::SrController::SrController

(

)

Definition at line 39 of file sr_controller.cpp.

controller::SrController::~SrController

(

)

[virtual]

Definition at line 48 of file sr_controller.cpp.

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Member Function Documentation

void controller::SrController::after_init

(

)

[protected]

call this function at the end of the init function in the inheriting classes.

Definition at line 53 of file sr_controller.cpp.

double controller::SrController::clamp_command

(

double

cmd

)

[protected]

Clamps the command to the correct range (between min and max).

Parameters:

cmd	the command we want to clamp

Returns:

the clamped command

Definition at line 123 of file sr_controller.cpp.

void controller::SrController::get_min_max	(	urdf::Model	model,
		std::string	joint_name
	)		[protected]

Reads the min and max from the robot model for the current joint.

Parameters:

model	the urdf description of the robot
joint_name	the name of the joint

Definition at line 101 of file sr_controller.cpp.

void controller::SrController::getCommand

(

double &

cmd

)

Get latest position command to the joint: revolute (angle) and prismatic (position).

Definition at line 71 of file sr_controller.cpp.

void controller::SrController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		[virtual]

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhEffortJointController, and controller::SrhJointPositionController.

Definition at line 98 of file sr_controller.cpp.

std::string controller::SrController::getJointName

(

)

Definition at line 59 of file sr_controller.cpp.

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

Implements pr2_controller_interface::Controller.

Reimplemented in controller::SrhExampleController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhSyntouchController, controller::SrhEffortJointController, and controller::SrhJointPositionController.

Definition at line 81 of file sr_controller.cpp.

bool controller::SrController::resetGains	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		[virtual]

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhEffortJointController, and controller::SrhJointPositionController.

Definition at line 93 of file sr_controller.cpp.

void controller::SrController::setCommand

(

double

cmd

)

Give set position of the joint for next update: revolute (angle) and prismatic (position)

Parameters:

command

Definition at line 65 of file sr_controller.cpp.

void controller::SrController::setCommandCB

(

const std_msgs::Float64ConstPtr &

msg

)

Reimplemented in controller::SrhMixedPositionVelocityJointController, and controller::SrhSyntouchController.

Definition at line 76 of file sr_controller.cpp.

void controller::SrController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Reimplemented in controller::SrhExampleController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhSyntouchController, controller::SrhEffortJointController, and controller::SrhJointPositionController.

Definition at line 90 of file sr_controller.cpp.

void controller::SrController::update

(

void

)

[virtual]

Issues commands to the joint. Should be called at regular intervals.

Implements pr2_controller_interface::Controller.

Reimplemented in controller::SrhExampleController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhSyntouchController, controller::SrhEffortJointController, and controller::SrhJointPositionController.

Definition at line 86 of file sr_controller.cpp.

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Member Data Documentation

double controller::SrController::command_

Last commanded position.

Definition at line 91 of file sr_controller.hpp.

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState> > controller::SrController::controller_state_publisher_ [protected]

Reimplemented in controller::SrhMixedPositionVelocityJointController, and controller::SrhSyntouchController.

Definition at line 128 of file sr_controller.hpp.

ros::Duration controller::SrController::dt_

Definition at line 90 of file sr_controller.hpp.

boost::shared_ptr<sr_friction_compensation::SrFrictionCompensator> controller::SrController::friction_compensator [protected]

Definition at line 130 of file sr_controller.hpp.

int controller::SrController::friction_deadband [protected]

the deadband for the friction compensation algorithm

Definition at line 139 of file sr_controller.hpp.

bool controller::SrController::has_j2

true if this is a joint 0.

Definition at line 89 of file sr_controller.hpp.

sr_deadband::HysteresisDeadband<double> controller::SrController::hysteresis_deadband [protected]

We're using an hysteresis deadband.

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointPositionController, and controller::SrhJointVelocityController.

Definition at line 142 of file sr_controller.hpp.

bool controller::SrController::initialized_ [protected]

Definition at line 120 of file sr_controller.hpp.

pr2_mechanism_model::JointState* controller::SrController::joint_state_

Joint we're controlling.

Definition at line 87 of file sr_controller.hpp.

pr2_mechanism_model::JointState* controller::SrController::joint_state_2

2ndJoint we're controlling if joint 0.

Definition at line 88 of file sr_controller.hpp.

ros::Time controller::SrController::last_time_ [protected]

Last time stamp of update.

Definition at line 122 of file sr_controller.hpp.

int controller::SrController::loop_count_ [protected]

Definition at line 119 of file sr_controller.hpp.

double controller::SrController::max_ [protected]

Definition at line 117 of file sr_controller.hpp.

double controller::SrController::max_force_demand [protected]

clamps the force demand to this value

Reimplemented in controller::SrhJointPositionController.

Definition at line 137 of file sr_controller.hpp.

double controller::SrController::min_ [protected]

Min and max range of the joint, used to clamp the command.

Definition at line 117 of file sr_controller.hpp.

ros::NodeHandle controller::SrController::n_tilde_ [protected]

Definition at line 124 of file sr_controller.hpp.

ros::NodeHandle controller::SrController::node_ [protected]

Definition at line 124 of file sr_controller.hpp.

pr2_mechanism_model::RobotState* controller::SrController::robot_ [protected]

Pointer to robot structure.

Definition at line 121 of file sr_controller.hpp.

ros::ServiceServer controller::SrController::serve_reset_gains_ [protected]

Definition at line 134 of file sr_controller.hpp.

ros::ServiceServer controller::SrController::serve_set_gains_ [protected]

Reimplemented in controller::SrhMixedPositionVelocityJointController.

Definition at line 133 of file sr_controller.hpp.

ros::Subscriber controller::SrController::sub_command_ [protected]

Reimplemented in controller::SrhMixedPositionVelocityJointController, and controller::SrhSyntouchController.

Definition at line 132 of file sr_controller.hpp.

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

• sr_controller.hpp
• sr_controller.cpp