Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | Private Member Functions
controller::SingleJointController Class Reference

#include <single_joint_controller.h>

Inheritance diagram for controller::SingleJointController:
Inheritance graph
[legend]

List of all members.

Public Member Functions

std::string getJointName ()
const
dynamixel_hardware_interface::JointState
getJointState ()
double getMaxVelocity ()
std::vector< int > getMotorIDs ()
std::string getName ()
dynamixel_hardware_interface::DynamixelIOgetPort ()
std::string getPortNamespace ()
virtual std::vector
< std::vector< int > > 
getRawMotorCommands (double position, double velocity)=0
virtual bool initialize (std::string name, std::string port_namespace, dynamixel_hardware_interface::DynamixelIO *dxl_io)
virtual void processCommand (const std_msgs::Float64ConstPtr &msg)=0
virtual void processMotorStates (const dynamixel_hardware_interface::MotorStateListConstPtr &msg)=0
bool processResetOverloadError (std_srvs::Empty::Request &req, std_srvs::Empty::Request &res)
bool processSetComplianceMargin (dynamixel_hardware_interface::SetComplianceMargin::Request &req, dynamixel_hardware_interface::SetComplianceMargin::Request &res)
bool processSetComplianceSlope (dynamixel_hardware_interface::SetComplianceSlope::Request &req, dynamixel_hardware_interface::SetComplianceSlope::Request &res)
bool processSetTorqueLimit (dynamixel_hardware_interface::SetTorqueLimit::Request &req, dynamixel_hardware_interface::SetTorqueLimit::Request &res)
virtual bool processSetVelocity (dynamixel_hardware_interface::SetVelocity::Request &req, dynamixel_hardware_interface::SetVelocity::Request &res)=0
virtual bool processTorqueEnable (dynamixel_hardware_interface::TorqueEnable::Request &req, dynamixel_hardware_interface::TorqueEnable::Request &res)
virtual bool setVelocity (double velocity)=0
 SingleJointController ()
virtual void start ()
virtual void stop ()
virtual ~SingleJointController ()

Protected Member Functions

uint16_t convertToEncoder (double angle_in_radians)
double convertToRadians (int angle_in_encoder)

Protected Attributes

ros::NodeHandle c_nh_
int compliance_margin_
int compliance_slope_
std::map< int, bool > drive_mode_reversed_
dynamixel_hardware_interface::DynamixelIOdxl_io_
double encoder_ticks_per_radian_
bool flipped_
int init_position_encoder_
std::string joint_
ros::Subscriber joint_command_sub_
dynamixel_hardware_interface::JointState joint_state_
ros::Publisher joint_state_pub_
ros::ServiceServer joint_velocity_srv_
int max_angle_encoder_
double max_angle_radians_
double max_velocity_
int min_angle_encoder_
double min_angle_radians_
double min_velocity_
std::vector< const
dynamixel_hardware_interface::DynamixelData * > 
motor_data_
std::vector< int > motor_ids_
double motor_max_velocity_
int motor_model_max_encoder_
ros::Subscriber motor_states_sub_
std::string name_
ros::NodeHandle nh_
std::string port_namespace_
double radians_per_encoder_tick_
ros::ServiceServer reset_overload_error_srv_
ros::ServiceServer set_compliance_margin_srv_
ros::ServiceServer set_compliance_slope_srv_
ros::ServiceServer set_torque_limit_srv_
ros::ServiceServer torque_enable_srv_
double velocity_per_encoder_tick_

Static Protected Attributes

static const double INIT_VELOCITY = 0.5

Private Member Functions

SingleJointControlleroperator= (const SingleJointController &c)
 SingleJointController (const SingleJointController &c)

Detailed Description

Definition at line 53 of file single_joint_controller.h.


Constructor & Destructor Documentation

Definition at line 56 of file single_joint_controller.h.

Definition at line 57 of file single_joint_controller.h.


Member Function Documentation

uint16_t controller::SingleJointController::convertToEncoder ( double  angle_in_radians) [inline, protected]

Definition at line 453 of file single_joint_controller.h.

double controller::SingleJointController::convertToRadians ( int  angle_in_encoder) [inline, protected]

Definition at line 460 of file single_joint_controller.h.

Definition at line 264 of file single_joint_controller.h.

Definition at line 260 of file single_joint_controller.h.

Definition at line 267 of file single_joint_controller.h.

std::vector<int> controller::SingleJointController::getMotorIDs ( ) [inline]

Definition at line 266 of file single_joint_controller.h.

Definition at line 263 of file single_joint_controller.h.

Definition at line 261 of file single_joint_controller.h.

Definition at line 265 of file single_joint_controller.h.

virtual std::vector<std::vector<int> > controller::SingleJointController::getRawMotorCommands ( double  position,
double  velocity 
) [pure virtual]
virtual bool controller::SingleJointController::initialize ( std::string  name,
std::string  port_namespace,
dynamixel_hardware_interface::DynamixelIO dxl_io 
) [inline, virtual]
SingleJointController& controller::SingleJointController::operator= ( const SingleJointController c) [private]
virtual void controller::SingleJointController::processCommand ( const std_msgs::Float64ConstPtr &  msg) [pure virtual]
bool controller::SingleJointController::processResetOverloadError ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Request &  res 
) [inline]

Definition at line 314 of file single_joint_controller.h.

Definition at line 359 of file single_joint_controller.h.

Definition at line 379 of file single_joint_controller.h.

Definition at line 327 of file single_joint_controller.h.

virtual bool controller::SingleJointController::setVelocity ( double  velocity) [pure virtual]
virtual void controller::SingleJointController::start ( ) [inline, virtual]

Definition at line 269 of file single_joint_controller.h.

virtual void controller::SingleJointController::stop ( ) [inline, virtual]

Definition at line 282 of file single_joint_controller.h.


Member Data Documentation

Definition at line 410 of file single_joint_controller.h.

Definition at line 434 of file single_joint_controller.h.

Definition at line 435 of file single_joint_controller.h.

Definition at line 420 of file single_joint_controller.h.

Definition at line 414 of file single_joint_controller.h.

Definition at line 437 of file single_joint_controller.h.

Definition at line 433 of file single_joint_controller.h.

Definition at line 430 of file single_joint_controller.h.

const double controller::SingleJointController::INIT_VELOCITY = 0.5 [static, protected]

Definition at line 423 of file single_joint_controller.h.

Definition at line 416 of file single_joint_controller.h.

Definition at line 444 of file single_joint_controller.h.

Definition at line 417 of file single_joint_controller.h.

Definition at line 445 of file single_joint_controller.h.

Definition at line 446 of file single_joint_controller.h.

Definition at line 432 of file single_joint_controller.h.

Definition at line 428 of file single_joint_controller.h.

Definition at line 424 of file single_joint_controller.h.

Definition at line 431 of file single_joint_controller.h.

Definition at line 427 of file single_joint_controller.h.

Definition at line 425 of file single_joint_controller.h.

Definition at line 421 of file single_joint_controller.h.

std::vector<int> controller::SingleJointController::motor_ids_ [protected]

Definition at line 419 of file single_joint_controller.h.

Definition at line 440 of file single_joint_controller.h.

Definition at line 441 of file single_joint_controller.h.

Definition at line 443 of file single_joint_controller.h.

Definition at line 412 of file single_joint_controller.h.

Definition at line 409 of file single_joint_controller.h.

Definition at line 413 of file single_joint_controller.h.

Definition at line 438 of file single_joint_controller.h.

Definition at line 448 of file single_joint_controller.h.

Definition at line 450 of file single_joint_controller.h.

Definition at line 451 of file single_joint_controller.h.

Definition at line 449 of file single_joint_controller.h.

Definition at line 447 of file single_joint_controller.h.

Definition at line 439 of file single_joint_controller.h.


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


dynamixel_hardware_interface
Author(s): Antons Rebguns
autogenerated on Sun Oct 5 2014 23:33:10