Public Member Functions | Private Member Functions | Private Attributes
controller::SrhMuscleJointPositionController Class Reference

#include <srh_muscle_joint_position_controller.hpp>

Inheritance diagram for controller::SrhMuscleJointPositionController:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void getGains (double &p, double &i, double &d, double &i_max, double &i_min)
bool init (pr2_mechanism_model::RobotState *robot, const std::string &joint_name, boost::shared_ptr< control_toolbox::Pid > pid_position)
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
virtual bool resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
bool setGains (sr_robot_msgs::SetPidGains::Request &req, sr_robot_msgs::SetPidGains::Response &resp)
 SrhMuscleJointPositionController ()
virtual void starting ()
virtual void update ()
 Issues commands to the joint. Should be called at regular intervals.
virtual ~SrhMuscleJointPositionController ()

Private Member Functions

void read_parameters ()
 read all the controller settings from the parameter server

Private Attributes

int command_acc_
 Command accumulator, time to keep the valves open/shut, sign gives the direction.
boost::shared_ptr
< realtime_tools::RealtimePublisher
< sr_robot_msgs::JointMusclePositionControllerState > > 
controller_state_publisher_
sr_deadband::HysteresisDeadband
< double > 
hysteresis_deadband
 We're using an hysteresis deadband.
std::string joint_name_
double max_force_demand
 clamps the force demand to this value
boost::shared_ptr
< control_toolbox::Pid
pid_controller_position_
double position_deadband
 the position deadband value used in the hysteresis_deadband

Detailed Description

Definition at line 36 of file srh_muscle_joint_position_controller.hpp.


Constructor & Destructor Documentation

Definition at line 42 of file srh_muscle_joint_position_controller.cpp.

Definition at line 47 of file srh_muscle_joint_position_controller.cpp.


Member Function Documentation

void controller::SrhMuscleJointPositionController::getGains ( double &  p,
double &  i,
double &  d,
double &  i_max,
double &  i_min 
) [virtual]

Reimplemented from controller::SrController.

Definition at line 200 of file srh_muscle_joint_position_controller.cpp.

bool controller::SrhMuscleJointPositionController::init ( pr2_mechanism_model::RobotState robot,
const std::string &  joint_name,
boost::shared_ptr< control_toolbox::Pid pid_position 
)

Definition at line 52 of file srh_muscle_joint_position_controller.cpp.

Reimplemented from controller::SrController.

Definition at line 123 of file srh_muscle_joint_position_controller.cpp.

read all the controller settings from the parameter server

Definition at line 380 of file srh_muscle_joint_position_controller.cpp.

bool controller::SrhMuscleJointPositionController::resetGains ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  resp 
) [virtual]

Reimplemented from controller::SrController.

Definition at line 180 of file srh_muscle_joint_position_controller.cpp.

bool controller::SrhMuscleJointPositionController::setGains ( sr_robot_msgs::SetPidGains::Request &  req,
sr_robot_msgs::SetPidGains::Response &  resp 
)

Definition at line 158 of file srh_muscle_joint_position_controller.cpp.

Reimplemented from controller::SrController.

Definition at line 146 of file srh_muscle_joint_position_controller.cpp.

Issues commands to the joint. Should be called at regular intervals.

Reimplemented from controller::SrController.

Definition at line 205 of file srh_muscle_joint_position_controller.cpp.


Member Data Documentation

Command accumulator, time to keep the valves open/shut, sign gives the direction.

Definition at line 73 of file srh_muscle_joint_position_controller.hpp.

boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::JointMusclePositionControllerState> > controller::SrhMuscleJointPositionController::controller_state_publisher_ [private]

Reimplemented from controller::SrController.

Definition at line 61 of file srh_muscle_joint_position_controller.hpp.

We're using an hysteresis deadband.

Reimplemented from controller::SrController.

Definition at line 70 of file srh_muscle_joint_position_controller.hpp.

Definition at line 78 of file srh_muscle_joint_position_controller.hpp.

clamps the force demand to this value

Reimplemented from controller::SrController.

Definition at line 64 of file srh_muscle_joint_position_controller.hpp.

Internal PID controller for the position loop.

Definition at line 58 of file srh_muscle_joint_position_controller.hpp.

the position deadband value used in the hysteresis_deadband

Definition at line 67 of file srh_muscle_joint_position_controller.hpp.


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


sr_mechanism_controllers
Author(s): Ugo Cupcic
autogenerated on Fri Aug 28 2015 13:09:56