#include <single_joint_controller.h>

Inheritance diagram for controller::SingleJointController:

Public Member Functions
std::string	getJointName ()
const dynamixel_hardware_interface::JointState &	getJointState ()
double	getMaxVelocity ()
std::vector< int >	getMotorIDs ()
std::string	getName ()
dynamixel_hardware_interface::DynamixelIO *	getPort ()
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::DynamixelIO *	dxl_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
SingleJointController &	operator= (const SingleJointController &c)
	SingleJointController (const SingleJointController &c)

Detailed Description

Definition at line 53 of file single_joint_controller.h.

Constructor & Destructor Documentation

controller::SingleJointController::SingleJointController ( ) [inline]

Definition at line 56 of file single_joint_controller.h.

virtual controller::SingleJointController::~SingleJointController ( ) [inline, virtual]

Definition at line 57 of file single_joint_controller.h.

controller::SingleJointController::SingleJointController ( const SingleJointController & c ) [private]

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.

std::string controller::SingleJointController::getJointName ( ) [inline]

Definition at line 264 of file single_joint_controller.h.

const dynamixel_hardware_interface::JointState& controller::SingleJointController::getJointState ( ) [inline]

Definition at line 260 of file single_joint_controller.h.

double controller::SingleJointController::getMaxVelocity ( ) [inline]

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.

std::string controller::SingleJointController::getName ( ) [inline]

Definition at line 263 of file single_joint_controller.h.

dynamixel_hardware_interface::DynamixelIO* controller::SingleJointController::getPort ( ) [inline]

Definition at line 261 of file single_joint_controller.h.

std::string controller::SingleJointController::getPortNamespace ( ) [inline]

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]`

Implemented in controller::JointPositionController, and controller::JointTorqueController.

virtual bool controller::SingleJointController::initialize	(	std::string	name,
		std::string	port_namespace,
		dynamixel_hardware_interface::DynamixelIO *	dxl_io
	)		`[inline, virtual]`

Reimplemented in controller::JointPositionController, and controller::JointTorqueController.

Definition at line 59 of file single_joint_controller.h.

SingleJointController& controller::SingleJointController::operator= ( const SingleJointController & c ) [private]

virtual void controller::SingleJointController::processCommand ( const std_msgs::Float64ConstPtr & msg ) [pure virtual]

Implemented in controller::JointPositionController, and controller::JointTorqueController.

virtual void controller::SingleJointController::processMotorStates ( const dynamixel_hardware_interface::MotorStateListConstPtr & msg ) [pure virtual]

Implemented in controller::JointPositionController, and controller::JointTorqueController.

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.

bool controller::SingleJointController::processSetComplianceMargin	(	dynamixel_hardware_interface::SetComplianceMargin::Request &	req,
		dynamixel_hardware_interface::SetComplianceMargin::Request &	res
	)		`[inline]`

Definition at line 359 of file single_joint_controller.h.

bool controller::SingleJointController::processSetComplianceSlope	(	dynamixel_hardware_interface::SetComplianceSlope::Request &	req,
		dynamixel_hardware_interface::SetComplianceSlope::Request &	res
	)		`[inline]`

Definition at line 379 of file single_joint_controller.h.

bool controller::SingleJointController::processSetTorqueLimit	(	dynamixel_hardware_interface::SetTorqueLimit::Request &	req,
		dynamixel_hardware_interface::SetTorqueLimit::Request &	res
	)		`[inline]`

Definition at line 327 of file single_joint_controller.h.

virtual bool controller::SingleJointController::processSetVelocity	(	dynamixel_hardware_interface::SetVelocity::Request &	req,
		dynamixel_hardware_interface::SetVelocity::Request &	res
	)		`[pure virtual]`

Implemented in controller::JointPositionController, and controller::JointTorqueController.

virtual bool controller::SingleJointController::processTorqueEnable	(	dynamixel_hardware_interface::TorqueEnable::Request &	req,
		dynamixel_hardware_interface::TorqueEnable::Request &	res
	)		`[inline, virtual]`