joint_qualification_controllers::HysteresisController2 Class Reference

Hystersis Controller. More...

#include <hysteresis_controller2.h>

Inheritance diagram for joint_qualification_controllers::HysteresisController2:

List of all members.

Public Types
enum	{   STOPPED, MOVING_HOME, MOVING_UP, MOVING_DOWN,   ANALYZING, DONE }
Public Member Functions
void	analysis ()
	Perform the test analysis.
bool	done ()
	HysteresisController2 ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Functional way to initialize.
bool	sendData ()
	Sends data, returns true if sent.
void	starting ()
	Called when controller is started.
void	update ()
	Issues commands to the joint to perform hysteresis test.
	~HysteresisController2 ()
Private Member Functions
bool	turn ()
Private Attributes
bool	complete
bool	data_sent_
int	down_count_
boost::scoped_ptr < realtime_tools::RealtimePublisher < joint_qualification_controllers::HysteresisData2 > >	hyst_pub_
double	initial_position_
ros::Time	initial_time_
pr2_mechanism_model::JointState *	joint_
double	last_publish_time_
double	max_effort_
std::vector< int >	move_count_
int	repeat_
int	repeat_count_
pr2_mechanism_model::RobotState *	robot_
int	starting_count_
int	state_
joint_qualification_controllers::HysteresisData2	test_data_
double	timeout_
int	up_count_
double	velocity_
controller::JointVelocityController *	velocity_controller_

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Detailed Description

Hystersis Controller.

This tests the hysteresis of a joint using a velocity controller.

Definition at line 60 of file hysteresis_controller2.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

STOPPED
MOVING_HOME
MOVING_UP
MOVING_DOWN
ANALYZING
DONE

Definition at line 64 of file hysteresis_controller2.h.

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Constructor & Destructor Documentation

HysteresisController2::HysteresisController2

(

)

Definition at line 48 of file hysteresis_controller2.cpp.

HysteresisController2::~HysteresisController2

(

)

Definition at line 98 of file hysteresis_controller2.cpp.

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Member Function Documentation

void HysteresisController2::analysis

(

)

Perform the test analysis.

Definition at line 359 of file hysteresis_controller2.cpp.

bool joint_qualification_controllers::HysteresisController2::done

(

)

[inline]

Definition at line 96 of file hysteresis_controller2.h.

bool HysteresisController2::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Functional way to initialize.

Parameters:

*robot	The robot that is being controlled.
&n	NodeHandle of mechanism control

Implements pr2_controller_interface::Controller.

Definition at line 103 of file hysteresis_controller2.cpp.

bool HysteresisController2::sendData

(

)

Sends data, returns true if sent.

Definition at line 374 of file hysteresis_controller2.cpp.

void HysteresisController2::starting

(

)

[virtual]

Called when controller is started.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 240 of file hysteresis_controller2.cpp.

bool HysteresisController2::turn

(

)

[private]

Definition at line 342 of file hysteresis_controller2.cpp.

void HysteresisController2::update

(

void

)

[virtual]

Issues commands to the joint to perform hysteresis test.

Implements pr2_controller_interface::Controller.

Definition at line 248 of file hysteresis_controller2.cpp.

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Member Data Documentation

bool joint_qualification_controllers::HysteresisController2::complete [private]

Definition at line 113 of file hysteresis_controller2.h.

bool joint_qualification_controllers::HysteresisController2::data_sent_ [private]

Definition at line 120 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::down_count_ [private]

Definition at line 109 of file hysteresis_controller2.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData2> > joint_qualification_controllers::HysteresisController2::hyst_pub_ [private]

Definition at line 125 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::initial_position_ [private]

Definition at line 108 of file hysteresis_controller2.h.

ros::Time joint_qualification_controllers::HysteresisController2::initial_time_ [private]

Start time of the test.

Definition at line 107 of file hysteresis_controller2.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::HysteresisController2::joint_ [private]

Joint we're controlling.

Definition at line 102 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::last_publish_time_ [private]

Definition at line 122 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::max_effort_ [private]

Maximum allowable effort.

Definition at line 106 of file hysteresis_controller2.h.

std::vector<int> joint_qualification_controllers::HysteresisController2::move_count_ [private]

Definition at line 110 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::repeat_ [private]

Definition at line 112 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::repeat_count_ [private]

Definition at line 111 of file hysteresis_controller2.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::HysteresisController2::robot_ [private]

Pointer to robot structure.

Definition at line 103 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::starting_count_ [private]

Definition at line 118 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::state_ [private]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 117 of file hysteresis_controller2.h.

joint_qualification_controllers::HysteresisData2 joint_qualification_controllers::HysteresisController2::test_data_ [private]

Definition at line 100 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::timeout_ [private]

Definition at line 115 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::up_count_ [private]

Definition at line 109 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::velocity_ [private]

Velocity during the test.

Definition at line 105 of file hysteresis_controller2.h.

controller::JointVelocityController* joint_qualification_controllers::HysteresisController2::velocity_controller_ [private]

The velocity controller for the hysteresis test.

Definition at line 104 of file hysteresis_controller2.h.

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

• hysteresis_controller2.h
• hysteresis_controller2.cpp