Controller which uses KDL to compute torque needed for static holding of the chain at the current pose. More...

#include <gravity_compensation.h>

Inheritance diagram for robot_controllers::GravityCompensation:

Public Member Functions
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims.
virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands.
virtual std::string	getType ()
	Get the type of this controller.
	GravityCompensation ()
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures.
virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.
virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance.
virtual bool	stop (bool force)
	Stop this controller.
virtual void	update (const ros::Time &time, const ros::Duration &dt)
	This is the update loop for the controller.
virtual	~GravityCompensation ()
Private Attributes
bool	initialized_
std::vector< JointHandlePtr >	joints_
KDL::Chain	kdl_chain_
	is KDL structure setup
boost::shared_ptr < KDL::ChainDynParam >	kdl_chain_dynamics_
ControllerManager *	manager_
KDL::JntArrayVel	positions_

Detailed Description

Controller which uses KDL to compute torque needed for static holding of the chain at the current pose.

Definition at line 67 of file gravity_compensation.h.

Constructor & Destructor Documentation

robot_controllers::GravityCompensation::GravityCompensation ( ) [inline]

Definition at line 70 of file gravity_compensation.h.

virtual robot_controllers::GravityCompensation::~GravityCompensation ( ) [inline, virtual]

Definition at line 71 of file gravity_compensation.h.

Member Function Documentation

std::vector< std::string > robot_controllers::GravityCompensation::getClaimedNames ( ) [virtual]

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 139 of file gravity_compensation.cpp.

std::vector< std::string > robot_controllers::GravityCompensation::getCommandedNames ( ) [virtual]

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 127 of file gravity_compensation.cpp.

virtual std::string robot_controllers::GravityCompensation::getType ( ) [inline, virtual]

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 121 of file gravity_compensation.h.

int robot_controllers::GravityCompensation::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)		`[virtual]`

Initialize the controller and any required data structures.

Parameters:

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns:: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 46 of file gravity_compensation.cpp.

virtual bool robot_controllers::GravityCompensation::reset ( ) [inline, virtual]

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.