controller::SrhFakeJointCalibrationController Class Reference

#include <srh_fake_joint_calibration_controller.h>

Inheritance diagram for controller::SrhFakeJointCalibrationController:

List of all members.

Public Member Functions
void	beginCalibration ()
bool	calibrated ()
virtual bool	init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n)
	SrhFakeJointCalibrationController ()
virtual void	update (const ros::Time &time, const ros::Duration &period)
Protected Types
enum	{   IS_INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH,   CALIBRATED }
Protected Member Functions
void	initialize_pids ()
Protected Attributes
ros_ethercat_model::Actuator *	actuator_
std::string	actuator_name_
int	calibration_state_
ros_ethercat_model::JointState *	joint_
std::string	joint_name_
std::string	joint_prefix_
ros::Time	last_publish_time_
ros::NodeHandle	node_
std::string	ns_
boost::scoped_ptr < realtime_tools::RealtimePublisher < std_msgs::Empty > >	pub_calibrated_
ros_ethercat_model::RobotState *	robot_
std::string	robot_id_

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Detailed Description

Definition at line 42 of file srh_fake_joint_calibration_controller.h.

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Member Enumeration Documentation

anonymous enum [protected]

Enumerator:

IS_INITIALIZED
BEGINNING
MOVING_TO_LOW
MOVING_TO_HIGH
CALIBRATED

Definition at line 65 of file srh_fake_joint_calibration_controller.h.

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Constructor & Destructor Documentation

controller::SrhFakeJointCalibrationController::SrhFakeJointCalibrationController

(

)

Definition at line 40 of file srh_fake_joint_calibration_controller.cpp.

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Member Function Documentation

void controller::SrhFakeJointCalibrationController::beginCalibration

(

)

[inline]

Definition at line 52 of file srh_fake_joint_calibration_controller.h.

bool controller::SrhFakeJointCalibrationController::calibrated

(

)

[inline]

Definition at line 51 of file srh_fake_joint_calibration_controller.h.

bool controller::SrhFakeJointCalibrationController::init	(	ros_ethercat_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Reimplemented from controller_interface::Controller< ros_ethercat_model::RobotState >.

Definition at line 49 of file srh_fake_joint_calibration_controller.cpp.

void controller::SrhFakeJointCalibrationController::initialize_pids

(

)

[protected]

Read the pids values from the parameter server and calls the service to set them on the hand.

Reset the motor to make sure we have the proper 0 + correct PID settings

Definition at line 140 of file srh_fake_joint_calibration_controller.cpp.

void controller::SrhFakeJointCalibrationController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[virtual]

Implements controller_interface::ControllerBase.

Definition at line 106 of file srh_fake_joint_calibration_controller.cpp.

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Member Data Documentation

ros_ethercat_model::Actuator* controller::SrhFakeJointCalibrationController::actuator_ [protected]

Definition at line 68 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::actuator_name_ [protected]

Definition at line 71 of file srh_fake_joint_calibration_controller.h.

int controller::SrhFakeJointCalibrationController::calibration_state_ [protected]

Definition at line 66 of file srh_fake_joint_calibration_controller.h.

ros_ethercat_model::JointState* controller::SrhFakeJointCalibrationController::joint_ [protected]

Definition at line 69 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::joint_name_ [protected]

Definition at line 71 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::joint_prefix_ [protected]

Definition at line 71 of file srh_fake_joint_calibration_controller.h.

ros::Time controller::SrhFakeJointCalibrationController::last_publish_time_ [protected]

Definition at line 63 of file srh_fake_joint_calibration_controller.h.

ros::NodeHandle controller::SrhFakeJointCalibrationController::node_ [protected]

Definition at line 61 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::ns_ [protected]

Definition at line 71 of file srh_fake_joint_calibration_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > controller::SrhFakeJointCalibrationController::pub_calibrated_ [protected]

Definition at line 62 of file srh_fake_joint_calibration_controller.h.

ros_ethercat_model::RobotState* controller::SrhFakeJointCalibrationController::robot_ [protected]

Definition at line 60 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::robot_id_ [protected]

Definition at line 71 of file srh_fake_joint_calibration_controller.h.

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

• srh_fake_joint_calibration_controller.h
• srh_fake_joint_calibration_controller.cpp