tulip_controller_namespace::tulip_controller_class Class Reference

#include <tulip_controller.h>

Inheritance diagram for tulip_controller_namespace::tulip_controller_class:

List of all members.

Classes
struct	exp_properties
struct	init_model_state_properties
struct	orientation_2types
struct	pose_properties
struct	push_properties
struct	quat_prop
struct	rpy_prop
struct	twist_properties
struct	xyz
Public Member Functions
virtual bool	applyForcetoRobot (gazebo_msgs::ApplyBodyWrench &srv_wrench, ros::NodeHandle &n)
virtual bool	getExpPar (std::string exp_name, exp_properties &exp_var, ros::NodeHandle &n)
virtual bool	getRobotState (gazebo_msgs::GetModelState &srv_getstate, rpy_prop &cur_orient_rpy, ros::NodeHandle &n)
virtual bool	getXyzPar (std::string xyz_name, xyz &xyz_var, ros::NodeHandle &n)
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Controller initialization in non-realtime.
virtual bool	setExpState (exp_properties exp_var, ros::NodeHandle &n)
virtual void	starting ()
	Controller startup in realtime.
virtual void	stopping ()
	Controller stopping in realtime.
virtual void	update ()
	Controller update loop in realtime.
Private Member Functions
bool	capture ()
	Service call to capture and extract the data.
Private Attributes
volatile int	cycle_index_
std::vector< exp_properties >	exp
std::vector< std::string >	joint_name
std::vector< double >	joint_pos_current
std::vector< double >	joint_pos_desired
std::vector< double >	joint_pos_feedback
std::vector< double >	joint_pos_init
std::vector < pr2_mechanism_model::JointState * >	joint_state
ros::Publisher	joint_state_pub_
std::vector< control_toolbox::Pid >	pid_controller
bool	published_jointdata
pr2_mechanism_model::RobotState *	robot_
tulip_gazebo::joint_state_message	storage_ [StoreLen]
volatile int	storage_index_
ros::Time	time_of_first_cycle_
ros::Time	time_of_previous_cycle_

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Detailed Description

Definition at line 88 of file tulip_controller.h.

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Member Function Documentation

bool tulip_controller_namespace::tulip_controller_class::applyForcetoRobot	(	gazebo_msgs::ApplyBodyWrench &	srv_wrench,
		ros::NodeHandle &	n
	)		[virtual]

Definition at line 176 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::capture

(

)

[private]

Service call to capture and extract the data.

Definition at line 245 of file tulip_controller.cpp.

bool tulip_controller_namespace::tulip_controller_class::getExpPar	(	std::string	exp_name,
		exp_properties &	exp_var,
		ros::NodeHandle &	n
	)		[virtual]

Definition at line 62 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::getRobotState	(	gazebo_msgs::GetModelState &	srv_getstate,
		rpy_prop &	cur_orient_rpy,
		ros::NodeHandle &	n
	)		[virtual]

Definition at line 152 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::getXyzPar	(	std::string	xyz_name,
		xyz &	xyz_var,
		ros::NodeHandle &	n
	)		[virtual]

Definition at line 55 of file tulip_controller_functions.cpp.

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

Controller initialization in non-realtime.

Implements pr2_controller_interface::Controller.

Definition at line 62 of file tulip_controller.cpp.

bool tulip_controller_namespace::tulip_controller_class::setExpState	(	exp_properties	exp_var,
		ros::NodeHandle &	n
	)		[virtual]

Definition at line 114 of file tulip_controller_functions.cpp.

void tulip_controller_namespace::tulip_controller_class::starting

(

)

[virtual]

Controller startup in realtime.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 163 of file tulip_controller.cpp.

void tulip_controller_namespace::tulip_controller_class::stopping

(

)

[virtual]

Controller stopping in realtime.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 241 of file tulip_controller.cpp.

void tulip_controller_namespace::tulip_controller_class::update

(

void

)

[virtual]

Controller update loop in realtime.

Implements pr2_controller_interface::Controller.

Definition at line 194 of file tulip_controller.cpp.

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Member Data Documentation

volatile int tulip_controller_namespace::tulip_controller_class::cycle_index_ [private]

Definition at line 96 of file tulip_controller.h.

std::vector<exp_properties> tulip_controller_namespace::tulip_controller_class::exp [private]

Definition at line 162 of file tulip_controller.h.

std::vector<std::string> tulip_controller_namespace::tulip_controller_class::joint_name [private]

Definition at line 106 of file tulip_controller.h.

std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_current [private]

Definition at line 104 of file tulip_controller.h.

std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_desired [private]

Definition at line 103 of file tulip_controller.h.

std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_feedback [private]

Definition at line 105 of file tulip_controller.h.

std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_init [private]

Definition at line 102 of file tulip_controller.h.

std::vector<pr2_mechanism_model::JointState*> tulip_controller_namespace::tulip_controller_class::joint_state [private]

Definition at line 101 of file tulip_controller.h.

ros::Publisher tulip_controller_namespace::tulip_controller_class::joint_state_pub_ [private]

Definition at line 93 of file tulip_controller.h.

std::vector<control_toolbox::Pid> tulip_controller_namespace::tulip_controller_class::pid_controller [private]

Definition at line 97 of file tulip_controller.h.

bool tulip_controller_namespace::tulip_controller_class::published_jointdata [private]

Definition at line 107 of file tulip_controller.h.

pr2_mechanism_model::RobotState* tulip_controller_namespace::tulip_controller_class::robot_ [private]

Definition at line 98 of file tulip_controller.h.

tulip_gazebo::joint_state_message tulip_controller_namespace::tulip_controller_class::storage_[StoreLen] [private]

Definition at line 94 of file tulip_controller.h.

volatile int tulip_controller_namespace::tulip_controller_class::storage_index_ [private]

Definition at line 95 of file tulip_controller.h.

ros::Time tulip_controller_namespace::tulip_controller_class::time_of_first_cycle_ [private]

Definition at line 99 of file tulip_controller.h.

ros::Time tulip_controller_namespace::tulip_controller_class::time_of_previous_cycle_ [private]

Definition at line 100 of file tulip_controller.h.

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

• tulip_controller.h
• tulip_controller.cpp
• tulip_controller_functions.cpp