Controller for a parallel jaw gripper, is really only intended for use in simulation. More...

#include <parallel_gripper.h>

Inheritance diagram for robot_controllers::ParallelGripperController:

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.
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures.
	ParallelGripperController ()
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)
	Attempt to stop the controller. This should be called only by the ControllerManager instance.
virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller.
virtual	~ParallelGripperController ()
Private Types
typedef actionlib::SimpleActionServer < control_msgs::GripperCommandAction >	server_t
Private Member Functions
void	executeCb (const control_msgs::GripperCommandGoalConstPtr &goal)
Private Attributes
robot_controllers::PID	centering_pid_
double	effort_
double	goal_
bool	initialized_
JointHandlePtr	left_
ControllerManager *	manager_
double	max_effort_
double	max_position_
JointHandlePtr	right_
boost::shared_ptr< server_t >	server_
bool	use_centering_controller_

Detailed Description

Controller for a parallel jaw gripper, is really only intended for use in simulation.

Definition at line 58 of file parallel_gripper.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::GripperCommandAction> robot_controllers::ParallelGripperController::server_t [private]

Definition at line 60 of file parallel_gripper.h.

Constructor & Destructor Documentation

robot_controllers::ParallelGripperController::ParallelGripperController ( ) [inline]

Definition at line 63 of file parallel_gripper.h.

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

Definition at line 66 of file parallel_gripper.h.

Member Function Documentation

void robot_controllers::ParallelGripperController::executeCb ( const control_msgs::GripperCommandGoalConstPtr & goal ) [private]

Definition at line 180 of file parallel_gripper.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 289 of file parallel_gripper.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 281 of file parallel_gripper.cpp.

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

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 109 of file parallel_gripper.h.

int robot_controllers::ParallelGripperController::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 parallel_gripper.cpp.

bool robot_controllers::ParallelGripperController::reset ( ) [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.