Public Member Functions | Static Public Attributes | Private Member Functions | Private Attributes
sr_gui_change_controllers.change_controllers.SrGuiChangeControllers Class Reference
Inheritance diagram for sr_gui_change_controllers.change_controllers.SrGuiChangeControllers:
Inheritance graph
[legend]

List of all members.

Public Member Functions

def __init__
def change_ctrl
def change_force_ctrl_type
def on_control_mode_radio_button_toggled_
def on_effort_ctrl_clicked_
def on_mixed_ctrl_clicked_
def on_position_ctrl_clicked_
def on_stop_ctrl_clicked_
def on_velocity_ctrl_clicked_
def restore_settings
def save_settings
def shutdown_plugin

Static Public Attributes

tuple CONTROLLER_OFF_ICON = QIcon(os.path.join(ICON_DIR, 'red.png'))
tuple CONTROLLER_ON_ICON = QIcon(os.path.join(ICON_DIR, 'green.png'))
dictionary controllers
tuple ICON_DIR = os.path.join(rospkg.RosPack().get_path('sr_visualization_icons'), 'icons')

Private Member Functions

def _unregisterPublisher

Private Attributes

 _publisher
 _widget

Detailed Description

A rosgui plugin for loading the different controllers

Definition at line 45 of file change_controllers.py.


Constructor & Destructor Documentation

Definition at line 59 of file change_controllers.py.


Member Function Documentation

Definition at line 298 of file change_controllers.py.

Switch the current controller

Definition at line 226 of file change_controllers.py.

Calls the service (realtime_loop/change_control_type) that allows to tell the driver (sr_robot_lib) which type of force control has to be sent to the motor:
    - torque demand (sr_robot_msgs::ControlType::FORCE)
    - PWM (sr_robot_msgs::ControlType::PWM)
it will deactivate the Effort, Position, Mixed and Velocity buttons for 3 secs to allow hardware controllers to be updated 

Definition at line 268 of file change_controllers.py.

Switch between FORCE, PWM modes
We only react to the currently ON radio button event

Definition at line 99 of file change_controllers.py.

Effort controller selected

Definition at line 130 of file change_controllers.py.

Mixed controller selected

Definition at line 176 of file change_controllers.py.

Position controller selected

Definition at line 153 of file change_controllers.py.

Stop controller

Definition at line 114 of file change_controllers.py.

Velocity controller selected

Definition at line 201 of file change_controllers.py.

def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.restore_settings (   self,
  global_settings,
  perspective_settings 
)

Definition at line 309 of file change_controllers.py.

def sr_gui_change_controllers.change_controllers.SrGuiChangeControllers.save_settings (   self,
  global_settings,
  perspective_settings 
)

Definition at line 306 of file change_controllers.py.

Definition at line 303 of file change_controllers.py.


Member Data Documentation

Definition at line 59 of file change_controllers.py.

Definition at line 59 of file change_controllers.py.

Definition at line 51 of file change_controllers.py.

Definition at line 50 of file change_controllers.py.

Initial value:
{"effort": ["sh_ffj0_effort_controller", "sh_ffj3_effort_controller", "sh_ffj4_effort_controller", "sh_mfj0_effort_controller", "sh_mfj3_effort_controller", "sh_mfj4_effort_controller", "sh_rfj0_effort_controller", "sh_rfj3_effort_controller", "sh_rfj4_effort_controller", "sh_lfj0_effort_controller", "sh_lfj3_effort_controller", "sh_lfj4_effort_controller", "sh_lfj5_effort_controller", "sh_thj1_effort_controller", "sh_thj2_effort_controller", "sh_thj3_effort_controller", "sh_thj4_effort_controller", "sh_thj5_effort_controller", "sh_wrj1_effort_controller", "sh_wrj2_effort_controller"],
                   "position": ["sh_ffj0_position_controller", "sh_ffj3_position_controller", "sh_ffj4_position_controller", "sh_mfj0_position_controller", "sh_mfj3_position_controller", "sh_mfj4_position_controller", "sh_rfj0_position_controller", "sh_rfj3_position_controller", "sh_rfj4_position_controller", "sh_lfj0_position_controller", "sh_lfj3_position_controller", "sh_lfj4_position_controller", "sh_lfj5_position_controller", "sh_thj1_position_controller", "sh_thj2_position_controller", "sh_thj3_position_controller", "sh_thj4_position_controller", "sh_thj5_position_controller", "sh_wrj1_position_controller", "sh_wrj2_position_controller"],
                   "mixed": ["sh_ffj0_mixed_position_velocity_controller", "sh_ffj3_mixed_position_velocity_controller", "sh_ffj4_mixed_position_velocity_controller", "sh_mfj0_mixed_position_velocity_controller", "sh_mfj3_mixed_position_velocity_controller", "sh_mfj4_mixed_position_velocity_controller", "sh_rfj0_mixed_position_velocity_controller", "sh_rfj3_mixed_position_velocity_controller", "sh_rfj4_mixed_position_velocity_controller", "sh_lfj0_mixed_position_velocity_controller", "sh_lfj3_mixed_position_velocity_controller", "sh_lfj4_mixed_position_velocity_controller", "sh_lfj5_mixed_position_velocity_controller", "sh_thj1_mixed_position_velocity_controller", "sh_thj2_mixed_position_velocity_controller", "sh_thj3_mixed_position_velocity_controller", "sh_thj4_mixed_position_velocity_controller", "sh_thj5_mixed_position_velocity_controller", "sh_wrj1_mixed_position_velocity_controller", "sh_wrj2_mixed_position_velocity_controller"],
                   "velocity": ["sh_ffj0_velocity_controller", "sh_ffj3_velocity_controller", "sh_ffj4_velocity_controller", "sh_mfj0_velocity_controller", "sh_mfj3_velocity_controller", "sh_mfj4_velocity_controller", "sh_rfj0_velocity_controller", "sh_rfj3_velocity_controller", "sh_rfj4_velocity_controller", "sh_lfj0_velocity_controller", "sh_lfj3_velocity_controller", "sh_lfj4_velocity_controller", "sh_lfj5_velocity_controller", "sh_thj1_velocity_controller", "sh_thj2_velocity_controller", "sh_thj3_velocity_controller", "sh_thj4_velocity_controller", "sh_thj5_velocity_controller", "sh_wrj1_velocity_controller", "sh_wrj2_velocity_controller"],
                   "stop": []}

Definition at line 53 of file change_controllers.py.

tuple sr_gui_change_controllers::change_controllers.SrGuiChangeControllers::ICON_DIR = os.path.join(rospkg.RosPack().get_path('sr_visualization_icons'), 'icons') [static]

Definition at line 49 of file change_controllers.py.


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


sr_gui_change_controllers
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:16:59