#include <pr2_base_controller.h>
Public Member Functions | |
geometry_msgs::Twist | getCommand () |
Returns the current position command. | |
bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
Pr2BaseController () | |
Default Constructor of the Pr2BaseController class. | |
void | setCommand (const geometry_msgs::Twist &cmd_vel) |
void | setDesiredCasterSteer () |
set the desired caster steer | |
void | setJointCommands () |
set the joint commands | |
void | starting () |
void | update () |
(a) Updates commands to caster and wheels. Called every timestep in realtime | |
~Pr2BaseController () | |
Destructor of the Pr2BaseController class. | |
Public Attributes | |
BaseKinematics | base_kin_ |
class where the robot's information is computed and stored | |
pthread_mutex_t | pr2_base_controller_lock_ |
mutex lock for setting and getting commands | |
Private Member Functions | |
void | commandCallback (const geometry_msgs::TwistConstPtr &msg) |
deal with Twist commands | |
void | computeDesiredCasterSteer (const double &dT) |
computes the desired caster speeds given the desired base speed | |
void | computeDesiredWheelSpeeds () |
computes the desired wheel speeds given the desired base speed | |
void | computeJointCommands (const double &dT) |
computes the desired caster steers and wheel speeds | |
geometry_msgs::Twist | interpolateCommand (const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT) |
interpolates velocities within a given time based on maximum accelerations | |
void | publishState (const ros::Time ¤t_time) |
Publish the state. | |
void | setDesiredWheelSpeeds () |
sends the desired wheel speeds to the wheel controllers | |
void | updateJointControllers () |
tells the wheel and caster controllers to update their speeds | |
Private Attributes | |
double | alpha_stall_ |
low pass filter value used for finding stalls | |
geometry_msgs::Twist | base_vel_msg_ |
callback message, used to remember where the base is commanded to go | |
std::vector< boost::shared_ptr < JointVelocityController > > | caster_controller_ |
vector that stores the caster controllers | |
std::vector< control_toolbox::Pid > | caster_position_pid_ |
The pid controllers for caster position. | |
filters::MultiChannelTransferFunctionFilter < double > | caster_vel_filter_ |
ros::Time | cmd_received_timestamp_ |
timestamp corresponding to when the command received by the node | |
ros::Subscriber | cmd_sub_ |
ros::Subscriber | cmd_sub_deprecated_ |
geometry_msgs::Twist | cmd_vel_ |
speed command vector used internally to represent the current commanded speed | |
double | cmd_vel_rot_eps_ |
minimum rotational velocity value allowable | |
geometry_msgs::Twist | cmd_vel_t_ |
Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller. | |
double | cmd_vel_trans_eps_ |
minimum tranlational velocity value allowable | |
geometry_msgs::Twist | desired_vel_ |
Input speed command vector represents the desired speed requested by the node. | |
double | eps_ |
generic epsilon value that is used as a minimum or maximum allowable input value | |
std::vector< double > | filtered_velocity_ |
double | kp_caster_steer_ |
local gain used for speed control of the caster (to achieve resultant position control) | |
ros::Time | last_publish_time_ |
Time interval between state publishing. | |
ros::Time | last_time_ |
time corresponding to when update was last called | |
geometry_msgs::Twist | max_accel_ |
acceleration limits specified externally | |
double | max_rotational_velocity_ |
maximum rotational velocity magnitude allowable | |
double | max_translational_velocity_ |
maximum translational velocity magnitude allowable | |
geometry_msgs::Twist | max_vel_ |
velocity limits specified externally | |
bool | new_cmd_available_ |
true when new command received by node | |
ros::NodeHandle | node_ |
bool | publish_state_ |
ros::NodeHandle | root_handle_ |
double | state_publish_rate_ |
double | state_publish_time_ |
Time interval between state publishing. | |
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_mechanism_controllers::BaseControllerState > > | state_publisher_ |
publishes information about the caster and wheel controllers | |
double | timeout_ |
timeout specifying time that the controller waits before setting the current velocity command to zero | |
std::vector< boost::shared_ptr < JointVelocityController > > | wheel_controller_ |
vector that stores the wheel controllers |
Definition at line 55 of file pr2_base_controller.h.
Default Constructor of the Pr2BaseController class.
Definition at line 47 of file pr2_base_controller.cpp.
Destructor of the Pr2BaseController class.
Definition at line 68 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::commandCallback | ( | const geometry_msgs::TwistConstPtr & | msg | ) | [private] |
deal with Twist commands
Definition at line 467 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::computeDesiredCasterSteer | ( | const double & | dT | ) | [private] |
computes the desired caster speeds given the desired base speed
Definition at line 373 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::computeDesiredWheelSpeeds | ( | ) | [private] |
computes the desired wheel speeds given the desired base speed
Definition at line 422 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::computeJointCommands | ( | const double & | dT | ) | [private] |
computes the desired caster steers and wheel speeds
Definition at line 357 of file pr2_base_controller.cpp.
geometry_msgs::Twist controller::Pr2BaseController::getCommand | ( | ) |
Returns the current position command.
Definition at line 253 of file pr2_base_controller.cpp.
bool controller::Pr2BaseController::init | ( | pr2_mechanism_model::RobotState * | robot, |
ros::NodeHandle & | n | ||
) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 74 of file pr2_base_controller.cpp.
geometry_msgs::Twist controller::Pr2BaseController::interpolateCommand | ( | const geometry_msgs::Twist & | start, |
const geometry_msgs::Twist & | end, | ||
const geometry_msgs::Twist & | max_rate, | ||
const double & | dT | ||
) | [private] |
interpolates velocities within a given time based on maximum accelerations
Definition at line 214 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::publishState | ( | const ros::Time & | current_time | ) | [private] |
Publish the state.
Definition at line 317 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::setCommand | ( | const geometry_msgs::Twist & | cmd_vel | ) |
Definition at line 181 of file pr2_base_controller.cpp.
set the desired caster steer
Definition at line 414 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::setDesiredWheelSpeeds | ( | ) | [private] |
sends the desired wheel speeds to the wheel controllers
Definition at line 451 of file pr2_base_controller.cpp.
set the joint commands
Definition at line 366 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::starting | ( | ) | [virtual] |
Reimplemented from pr2_controller_interface::Controller.
Definition at line 264 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::update | ( | void | ) | [virtual] |
(a) Updates commands to caster and wheels. Called every timestep in realtime
Implements pr2_controller_interface::Controller.
Definition at line 278 of file pr2_base_controller.cpp.
void controller::Pr2BaseController::updateJointControllers | ( | ) | [private] |
tells the wheel and caster controllers to update their speeds
Definition at line 459 of file pr2_base_controller.cpp.
double controller::Pr2BaseController::alpha_stall_ [private] |
low pass filter value used for finding stalls
Definition at line 192 of file pr2_base_controller.h.
class where the robot's information is computed and stored
Definition at line 95 of file pr2_base_controller.h.
geometry_msgs::Twist controller::Pr2BaseController::base_vel_msg_ [private] |
callback message, used to remember where the base is commanded to go
Definition at line 247 of file pr2_base_controller.h.
std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController::caster_controller_ [private] |
vector that stores the caster controllers
Definition at line 202 of file pr2_base_controller.h.
std::vector<control_toolbox::Pid> controller::Pr2BaseController::caster_position_pid_ [private] |
The pid controllers for caster position.
Definition at line 285 of file pr2_base_controller.h.
filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController::caster_vel_filter_ [private] |
Definition at line 287 of file pr2_base_controller.h.
timestamp corresponding to when the command received by the node
Definition at line 146 of file pr2_base_controller.h.
Definition at line 124 of file pr2_base_controller.h.
Definition at line 126 of file pr2_base_controller.h.
geometry_msgs::Twist controller::Pr2BaseController::cmd_vel_ [private] |
speed command vector used internally to represent the current commanded speed
Definition at line 157 of file pr2_base_controller.h.
double controller::Pr2BaseController::cmd_vel_rot_eps_ [private] |
minimum rotational velocity value allowable
Definition at line 257 of file pr2_base_controller.h.
geometry_msgs::Twist controller::Pr2BaseController::cmd_vel_t_ [private] |
Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller.
Definition at line 152 of file pr2_base_controller.h.
double controller::Pr2BaseController::cmd_vel_trans_eps_ [private] |
minimum tranlational velocity value allowable
Definition at line 272 of file pr2_base_controller.h.
geometry_msgs::Twist controller::Pr2BaseController::desired_vel_ [private] |
Input speed command vector represents the desired speed requested by the node.
Definition at line 162 of file pr2_base_controller.h.
double controller::Pr2BaseController::eps_ [private] |
generic epsilon value that is used as a minimum or maximum allowable input value
Definition at line 252 of file pr2_base_controller.h.
std::vector<double> controller::Pr2BaseController::filtered_velocity_ [private] |
Definition at line 289 of file pr2_base_controller.h.
double controller::Pr2BaseController::kp_caster_steer_ [private] |
local gain used for speed control of the caster (to achieve resultant position control)
Definition at line 187 of file pr2_base_controller.h.
Time interval between state publishing.
Definition at line 267 of file pr2_base_controller.h.
time corresponding to when update was last called
Definition at line 141 of file pr2_base_controller.h.
geometry_msgs::Twist controller::Pr2BaseController::max_accel_ [private] |
acceleration limits specified externally
Definition at line 172 of file pr2_base_controller.h.
double controller::Pr2BaseController::max_rotational_velocity_ [private] |
maximum rotational velocity magnitude allowable
Definition at line 182 of file pr2_base_controller.h.
double controller::Pr2BaseController::max_translational_velocity_ [private] |
maximum translational velocity magnitude allowable
Definition at line 177 of file pr2_base_controller.h.
geometry_msgs::Twist controller::Pr2BaseController::max_vel_ [private] |
velocity limits specified externally
Definition at line 167 of file pr2_base_controller.h.
bool controller::Pr2BaseController::new_cmd_available_ [private] |
true when new command received by node
Definition at line 136 of file pr2_base_controller.h.
Definition at line 120 of file pr2_base_controller.h.
pthread_mutex_t controller::Pr2BaseController::pr2_base_controller_lock_ |
mutex lock for setting and getting commands
Definition at line 100 of file pr2_base_controller.h.
bool controller::Pr2BaseController::publish_state_ [private] |
Definition at line 280 of file pr2_base_controller.h.
Definition at line 122 of file pr2_base_controller.h.
double controller::Pr2BaseController::state_publish_rate_ [private] |
Definition at line 262 of file pr2_base_controller.h.
double controller::Pr2BaseController::state_publish_time_ [private] |
Time interval between state publishing.
Definition at line 262 of file pr2_base_controller.h.
boost::scoped_ptr<realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState> > controller::Pr2BaseController::state_publisher_ [private] |
publishes information about the caster and wheel controllers
Definition at line 207 of file pr2_base_controller.h.
double controller::Pr2BaseController::timeout_ [private] |
timeout specifying time that the controller waits before setting the current velocity command to zero
Definition at line 131 of file pr2_base_controller.h.
std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController::wheel_controller_ [private] |
vector that stores the wheel controllers
Definition at line 197 of file pr2_base_controller.h.