srh_muscle_joint_position_controller.hpp
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00001 
00028 #ifndef _SRH_MUSCLE_JOINT_POSITION_CONTROLLER_HPP_
00029 #define _SRH_MUSCLE_JOINT_POSITION_CONTROLLER_HPP_
00030 
00031 #include <sr_mechanism_controllers/sr_controller.hpp>
00032 #include <sr_robot_msgs/JointMusclePositionControllerState.h>
00033 
00034 namespace controller
00035 {
00036   class SrhMuscleJointPositionController : public SrController
00037   {
00038   public:
00039     SrhMuscleJointPositionController();
00040     virtual ~SrhMuscleJointPositionController();
00041 
00042     bool init( pr2_mechanism_model::RobotState *robot, const std::string &joint_name,
00043                boost::shared_ptr<control_toolbox::Pid> pid_position);
00044     bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00045 
00046     virtual void starting();
00047 
00051     virtual void update();
00052 
00053     virtual void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00054     virtual bool resetGains(std_srvs::Empty::Request& req, std_srvs::Empty::Response& resp);
00055     bool setGains(sr_robot_msgs::SetPidGains::Request &req, sr_robot_msgs::SetPidGains::Response &resp);
00056 
00057   private:
00058     boost::shared_ptr<control_toolbox::Pid> pid_controller_position_;       
00060     //publish our joint controller state
00061     boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::JointMusclePositionControllerState> > controller_state_publisher_;
00062 
00064     double max_force_demand;
00065 
00067     double position_deadband;
00068 
00070     sr_deadband::HysteresisDeadband<double> hysteresis_deadband;
00071 
00073     int command_acc_;
00074 
00076     void read_parameters();
00077 
00078     std::string joint_name_;
00079   };
00080 } // namespace
00081 
00082 /* For the emacs weenies in the crowd.
00083 Local Variables:
00084    c-basic-offset: 2
00085 End:
00086 */
00087 
00088 
00089 #endif


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