Public Member Functions | Private Types | Private Attributes
gazebo::JointController Class Reference

#include <JointController.h>

List of all members.

Public Member Functions

void clearFaults ()
double getEffortTarget ()
void getJointLimits (double &lowLimit, double &highLimit)
const r2_msgs::JointStatus & getJointStatus () const
double getPosTarget ()
double getVelTarget ()
bool isPassive ()
 JointController (physics::JointPtr _jointPtr, bool _advancedMode=false)
void releaseBrake (bool release=true)
void setEffortTarget (double target)
void setJointControl (const r2_msgs::JointControl::ConstPtr &msg)
void setPassive ()
void setPosPid (double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void setPosTarget (double target)
void setVelPid (double _p=0.0, double _i=0.0, double _d=0.0, double _imax=0.0, double _imin=0.0, double _cmdMax=0.0, double _cmdMin=0.0)
void setVelTarget (double target)
void update (common::Time &stepTime)
 ~JointController ()

Private Types

enum  JointControlMode { POS_COM = 0, TORQ_COM = 1, IMP_COM = 2, VEL_COM = 3 }
enum  JointFault { OK = 0 }

Private Attributes

bool advancedMode
boost::mutex controllerMutex
JointControlMode controlMode
r2_msgs::JointStatusPtr currStatusPtr
double effort
JointFault fault
double jointHighLimit
double jointLowLimit
physics::JointPtr jointPtr
bool passive
double position
common::PID posPid
double velocity
common::PID velPid

Detailed Description

Definition at line 21 of file JointController.h.


Member Enumeration Documentation

Enumerator:
POS_COM 
TORQ_COM 
IMP_COM 
VEL_COM 

Definition at line 90 of file JointController.h.

Enumerator:
OK 

Definition at line 91 of file JointController.h.


Constructor & Destructor Documentation

JointController::JointController ( physics::JointPtr  _jointPtr,
bool  _advancedMode = false 
)

Definition at line 5 of file JointController.cpp.

Definition at line 33 of file JointController.cpp.


Member Function Documentation

Definition at line 174 of file JointController.cpp.

Definition at line 51 of file JointController.h.

void gazebo::JointController::getJointLimits ( double &  lowLimit,
double &  highLimit 
) [inline]

Definition at line 56 of file JointController.h.

const r2_msgs::JointStatus & JointController::getJointStatus ( ) const

Definition at line 169 of file JointController.cpp.

Definition at line 43 of file JointController.h.

Definition at line 47 of file JointController.h.

Definition at line 29 of file JointController.h.

void JointController::releaseBrake ( bool  release = true)

Definition at line 181 of file JointController.cpp.

void JointController::setEffortTarget ( double  target)

Definition at line 75 of file JointController.cpp.

void JointController::setJointControl ( const r2_msgs::JointControl::ConstPtr &  msg)

Definition at line 141 of file JointController.cpp.

Definition at line 27 of file JointController.h.

void JointController::setPosPid ( double  _p = 0.0,
double  _i = 0.0,
double  _d = 0.0,
double  _imax = 0.0,
double  _imin = 0.0,
double  _cmdMax = 0.0,
double  _cmdMin = 0.0 
)

Definition at line 37 of file JointController.cpp.

void JointController::setPosTarget ( double  target)

Definition at line 51 of file JointController.cpp.

void JointController::setVelPid ( double  _p = 0.0,
double  _i = 0.0,
double  _d = 0.0,
double  _imax = 0.0,
double  _imin = 0.0,
double  _cmdMax = 0.0,
double  _cmdMin = 0.0 
)

Definition at line 44 of file JointController.cpp.

void JointController::setVelTarget ( double  target)

Definition at line 63 of file JointController.cpp.

void JointController::update ( common::Time &  stepTime)

Definition at line 87 of file JointController.cpp.


Member Data Documentation

Definition at line 87 of file JointController.h.

Definition at line 85 of file JointController.h.

Definition at line 94 of file JointController.h.

r2_msgs::JointStatusPtr gazebo::JointController::currStatusPtr [private]

Definition at line 93 of file JointController.h.

Definition at line 83 of file JointController.h.

Definition at line 95 of file JointController.h.

Definition at line 98 of file JointController.h.

Definition at line 97 of file JointController.h.

physics::JointPtr gazebo::JointController::jointPtr [private]

Definition at line 74 of file JointController.h.

Definition at line 76 of file JointController.h.

Definition at line 81 of file JointController.h.

common::PID gazebo::JointController::posPid [private]

Definition at line 78 of file JointController.h.

Definition at line 82 of file JointController.h.

common::PID gazebo::JointController::velPid [private]

Definition at line 79 of file JointController.h.


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


r2_gazebo_interface
Author(s):
autogenerated on Fri Jun 21 2019 20:03:41