#include <pr2_gripper_sensor_controller.h>

Inheritance diagram for pr2_gripper_sensor_controller::PR2GripperSensorController:

Public Member Functions
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
virtual void	starting ()
virtual void	stopping ()
virtual void	update ()
Private Member Functions
void	eventDetectorCB (const pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommandConstPtr &msg)
void	findContactCB (const pr2_gripper_sensor_msgs::PR2GripperFindContactCommandConstPtr &msg)
bool	forceServo ()
void	forceServoCB (const pr2_gripper_sensor_msgs::PR2GripperForceServoCommandConstPtr &msg)
bool	initializeHandles (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void	positionCB (const pr2_controllers_msgs::Pr2GripperCommandConstPtr &msg)
void	reinitializeValues ()
bool	reloadParams (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	slipServoCB (const pr2_gripper_sensor_msgs::PR2GripperSlipServoCommandConstPtr &msg)
bool	stopMotorOutput (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
bool	updateZeros (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
Private Attributes
double	acc_trigger
	value to use as trigger for acceleration detection (event_detector)
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_gripper_sensor_msgs::PR2GripperFindContactData > >	contact_state_publisher_
	find_contact real-time publisher
bool	contact_success
	flag to indicate whether the fingers found contact or not
int	contactCounter
	counter to delay a certain amount of tmie after contact
int	contacts_desired
	the contact state we want when we search for contact on the fingers
int	control_mode
	the current/desired control mode we want the controller state machine to be in
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointControllerState > >	controller_state_publisher_
	position data real-time publisher
double	deformation_limit
	the max allowable deformation for our controller
std_srvs::Empty::Request	empty_req
	blank request/responses
std_srvs::Empty::Response	empty_resp
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_gripper_sensor_msgs::PR2GripperEventDetectorData > >	event_detector_state_publisher_
	place publisher and listener
int	findContact_delay
	counter to track how long a force is stable for
double	fingertip_force_limit
	the limit we do not want to exceed when force servoing
double	fingertip_start_force
	the force we want to start seroing to on the fingertips
double	force_servo_velocity_tolerance
	the tolerance on velocity to consider a force stable
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_gripper_sensor_msgs::PR2GripperForceServoData > >	force_state_publisher_
	force_servo real-time publisher
ros::Time	last_time_
	counter to track the time
int	loop_count_
	loop counter
double	max_effort
	the max effort to allow our controller to use
accelerationObserver *	myAccelerationObserver
	accelerometer observer object
gripperController *	myGripperController
	gripper action object to control our gripper
pressureObserver *	myPressureObserver
	pressure observer object to do analysis on the incoming pressure sensor data
ros::NodeHandle	nodeHandle
	our ROS node handle
int	placeConditions
	storage container for the conditions we want to use in event_detector
bool	placedState
	state flag to indicate when event_detector succceded
bool	publish_raw_data
	flag to indicate whether we want to publish raw data or not
int	publish_skip
	skip count when publishing controller information
pr2_gripper_sensor_msgs::PR2GripperSensorRawData	raw_data
	an object for raw data publication for debugging
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_gripper_sensor_msgs::PR2GripperSensorRawData > >	raw_data_publisher_
	raw data real-time publisher
ros::ServiceServer	reloadParams_srv_
pr2_mechanism_model::RobotState *	robotHandle
	our robot state handle
const pr2_gripper_sensor_msgs::PR2GripperSensorRTState	rt_state_def
	object that defines states of our controller
double	servo_force
	the force we want to servo our controller to
double	servo_position
	the position we want to servo our controller to
double	servo_velocity
	the velocity we would like our controller to servo to
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_gripper_sensor_msgs::PR2GripperSlipServoData > >	slip_state_publisher_
	slip_servo real-time publisher
double	slip_trigger
	value to use as trigger for slip detection (event_detector)
bool	stable_contact
	state variable to indicate whether our contact has been held enough
bool	stable_force
	flag to indicate a stable force is achieved
ros::ServiceServer	stopMotorOutput_srv_
ros::Subscriber	sub_command_
ros::Subscriber	sub_event_detector_command_
ros::Subscriber	sub_findcontact_command_
ros::Subscriber	sub_forceservo_command_
ros::Subscriber	sub_slipservo_command_
bool	update_zeros
	bool to signal whether we are currently updating our zeros or not
ros::ServiceServer	updateZeros_srv_
	our service publishers

Detailed Description

Definition at line 80 of file pr2_gripper_sensor_controller.h.

Member Function Documentation

void PR2GripperSensorController::eventDetectorCB ( const pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommandConstPtr & msg ) [private]

Function to take in a event_detector request goal request and set the event_detector parameters to trigger on this goal

Parameters:

&msg	A pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommandConstPtr that indicates the conditions of the event trigger

Definition at line 691 of file pr2_gripper_sensor_controller.cpp.

void PR2GripperSensorController::findContactCB ( const pr2_gripper_sensor_msgs::PR2GripperFindContactCommandConstPtr & msg ) [private]

Function to take in a find_contact request goal request and place the controller into contact finding control mode.

Parameters:

&msg	A pr2_gripper_sensor_msgs::PR2GripperFindContactCommandConstPtr that indicates what the find_contact goal is

Definition at line 659 of file pr2_gripper_sensor_controller.cpp.

bool pr2_gripper_sensor_controller::PR2GripperSensorController::forceServo ( ) [private]

void PR2GripperSensorController::forceServoCB ( const pr2_gripper_sensor_msgs::PR2GripperForceServoCommandConstPtr & msg ) [private]

This function forces the real-time controller into force servo mode, sending motor control commands to the gripper to attempt to hold a specified force as seen by the finger pressure sensors.

Parameters:

&msg	A pr2_gripper_sensor_msgs::PR2GripperForceServoCommandConstPtr that defines the force servo target force

Definition at line 741 of file pr2_gripper_sensor_controller.cpp.

bool PR2GripperSensorController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		`[virtual]`

ROS real-time controller initialization routine. Establishes action/message/service I/O for real-time controller and inits runtime variables.

Parameters:

*robot	A pointer to our robot state instance
&n	The node handle instance of the calling node.

Returns:: true if all hardware handles were initialized successfully.

Implements pr2_controller_interface::Controller.

Definition at line 221 of file pr2_gripper_sensor_controller.cpp.

bool PR2GripperSensorController::initializeHandles	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		`[private]`

In this function we grab a handle to the palm accelerometer, each finger pressure array, and the motor/encoder of the gripper.

Parameters:

*robot	A pointer to our robot state instance
&n	The node handle instance of the calling node.

Returns:: true if all handles were initialized successfully.

Definition at line 69 of file pr2_gripper_sensor_controller.cpp.

void PR2GripperSensorController::positionCB ( const pr2_controllers_msgs::Pr2GripperCommandConstPtr & msg ) [private]

Function to take in a position request goal request and place the controller into position control mode.

Parameters:

&msg	A pr2_controllers_msgs::Pr2GripperCommandConstPtr that indicates what the position request goal is

Definition at line 630 of file pr2_gripper_sensor_controller.cpp.

void PR2GripperSensorController::reinitializeValues ( ) [private]

Helper function called during many action commands to reset key stat variables that are used to determine what is happening inside the controller

Definition at line 593 of file pr2_gripper_sensor_controller.cpp.

bool PR2GripperSensorController::reloadParams	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		`[private]`

A helper function to reload parameters from the param server

Parameters:

&req	An std_srvs::Empty::Request
&resp	An std_srvs::Empty::Response

Returns:: returns true when complete

Definition at line 158 of file pr2_gripper_sensor_controller.cpp.

void PR2GripperSensorController::slipServoCB ( const pr2_gripper_sensor_msgs::PR2GripperSlipServoCommandConstPtr & msg ) [private]

Function to take in a slip_servo request goal request and set the controller into slip servo mode.

Parameters:

&msg	A pr2_gripper_sensor_msgs::PR2GripperSlipServoCommandConstPtr

Definition at line 709 of file pr2_gripper_sensor_controller.cpp.

virtual void pr2_gripper_sensor_controller::PR2GripperSensorController::starting ( ) [inline, virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 185 of file pr2_gripper_sensor_controller.h.

bool PR2GripperSensorController::stopMotorOutput	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		`[private]`

This function forces the real-time controller into a mode where no information is sent to the motor. Useful for stopping and interrupting other control modes

Parameters:

&req	An std_srvs::Empty::Request
&resp	An std_srvs::Empty::Response

Returns:: returns true when complete

Definition at line 580 of file pr2_gripper_sensor_controller.cpp.

void PR2GripperSensorController::stopping ( ) [virtual]

real-time callback to stop controller

Sends a zero-effort command to the motor before quitting

Reimplemented from pr2_controller_interface::Controller.

Definition at line 535 of file pr2_gripper_sensor_controller.cpp.

void PR2GripperSensorController::update ( void ) [virtual]

real-time thread update callback, should be run at 1khz ros rt rate.

Listens to various command messages and publishes data back on response messages. Upon receiving a command message the controller moves into various different real-time control_modes for for the gripper.

Implements pr2_controller_interface::Controller.

Definition at line 304 of file pr2_gripper_sensor_controller.cpp.

bool PR2GripperSensorController::updateZeros	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		`[private]`

This function updates the pressure sensor zero offest value. It will run for 0.25 seconds and average the sensor readings, after which this average is used to offest the senor readings.

Parameters: