joint_velocity_controller.h
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00034 
00035 #ifndef JOINT_VELOCITY_CONTROLLER_H
00036 #define JOINT_VELOCITY_CONTROLLER_H
00037 
00062 #include <ros/node_handle.h>
00063 #include <boost/scoped_ptr.hpp>
00064 #include <boost/thread/condition.hpp>
00065 
00066 #include "pr2_controller_interface/controller.h"
00067 #include "control_toolbox/pid.h"
00068 #include "control_toolbox/pid_gains_setter.h"
00069 
00070 // Services
00071 #include <std_msgs/Float64.h>
00072 
00073 //Realtime publisher
00074 #include <pr2_controllers_msgs/JointControllerState.h>
00075 #include <realtime_tools/realtime_publisher.h>
00076 
00077 namespace controller
00078 {
00079 
00080 class JointVelocityController : public pr2_controller_interface::Controller
00081 {
00082 public:
00083 
00084   JointVelocityController();
00085   ~JointVelocityController();
00086 
00087   bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
00088   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00089 
00095   void setCommand(double cmd);
00096 
00100   void getCommand(double & cmd);
00101 
00106   virtual void starting() {
00107     command_ = 0.0;
00108     pid_controller_.reset();
00109   }
00110   virtual void update();
00111 
00112   void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00113   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
00114 
00115   std::string getJointName();
00116   pr2_mechanism_model::JointState *joint_state_;           
00117   ros::Duration dt_;
00118 
00119   double command_;                                
00120 private:
00121   ros::NodeHandle node_;
00122   pr2_mechanism_model::RobotState *robot_;                  
00123   control_toolbox::Pid pid_controller_;           
00124   ros::Time last_time_;                              
00125   int loop_count_;
00126 
00127   friend class JointVelocityControllerNode;
00128 
00129   boost::scoped_ptr<
00130     realtime_tools::RealtimePublisher<
00131       pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
00132 
00133   ros::Subscriber sub_command_;
00134   void setCommandCB(const std_msgs::Float64ConstPtr& msg);
00135 };
00136 
00137 } // namespace
00138 
00139 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:44