#include <JointController.h>
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 |
Definition at line 21 of file JointController.h.
enum gazebo::JointController::JointControlMode [private] |
Definition at line 90 of file JointController.h.
enum gazebo::JointController::JointFault [private] |
Definition at line 91 of file JointController.h.
JointController::JointController | ( | physics::JointPtr | _jointPtr, |
bool | _advancedMode = false |
||
) |
Definition at line 5 of file JointController.cpp.
Definition at line 33 of file JointController.cpp.
void JointController::clearFaults | ( | ) |
Definition at line 174 of file JointController.cpp.
double gazebo::JointController::getEffortTarget | ( | ) | [inline] |
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.
double gazebo::JointController::getPosTarget | ( | ) | [inline] |
Definition at line 43 of file JointController.h.
double gazebo::JointController::getVelTarget | ( | ) | [inline] |
Definition at line 47 of file JointController.h.
bool gazebo::JointController::isPassive | ( | ) | [inline] |
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.
void gazebo::JointController::setPassive | ( | ) | [inline] |
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.
bool gazebo::JointController::advancedMode [private] |
Definition at line 87 of file JointController.h.
boost::mutex gazebo::JointController::controllerMutex [private] |
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.
double gazebo::JointController::effort [private] |
Definition at line 83 of file JointController.h.
JointFault gazebo::JointController::fault [private] |
Definition at line 95 of file JointController.h.
double gazebo::JointController::jointHighLimit [private] |
Definition at line 98 of file JointController.h.
double gazebo::JointController::jointLowLimit [private] |
Definition at line 97 of file JointController.h.
physics::JointPtr gazebo::JointController::jointPtr [private] |
Definition at line 74 of file JointController.h.
bool gazebo::JointController::passive [private] |
Definition at line 76 of file JointController.h.
double gazebo::JointController::position [private] |
Definition at line 81 of file JointController.h.
common::PID gazebo::JointController::posPid [private] |
Definition at line 78 of file JointController.h.
double gazebo::JointController::velocity [private] |
Definition at line 82 of file JointController.h.
common::PID gazebo::JointController::velPid [private] |
Definition at line 79 of file JointController.h.