Controller for a having one joint be a (scaled) mimic of another. Primary design use case is making a fake bellows joint that moves in relation to a torso lift joint. More...
#include <scaled_mimic.h>
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. | |
| 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. | |
| ScaledMimicController () | |
| 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 | ~ScaledMimicController () |
Private Types | |
| typedef actionlib::SimpleActionServer < control_msgs::GripperCommandAction > | server_t |
Private Attributes | |
| bool | initialized_ |
| JointHandlePtr | joint_to_control_ |
| JointHandlePtr | joint_to_mimic_ |
| double | scale_ |
Detailed Description
Controller for a having one joint be a (scaled) mimic of another. Primary design use case is making a fake bellows joint that moves in relation to a torso lift joint.
Definition at line 58 of file scaled_mimic.h.
Member Typedef Documentation
typedef actionlib::SimpleActionServer<control_msgs::GripperCommandAction> robot_controllers::ScaledMimicController::server_t [private] |
Definition at line 60 of file scaled_mimic.h.
Constructor & Destructor Documentation
Definition at line 63 of file scaled_mimic.h.
| virtual robot_controllers::ScaledMimicController::~ScaledMimicController | ( | ) | [inline, virtual] |
Definition at line 64 of file scaled_mimic.h.
Member Function Documentation
| std::vector< std::string > robot_controllers::ScaledMimicController::getClaimedNames | ( | ) | [virtual] |
Get the names of joints/controllers which this controller exclusively claims.
Implements robot_controllers::Controller.
Definition at line 113 of file scaled_mimic.cpp.
| std::vector< std::string > robot_controllers::ScaledMimicController::getCommandedNames | ( | ) | [virtual] |
Get the names of joints/controllers which this controller commands.
Implements robot_controllers::Controller.
Definition at line 106 of file scaled_mimic.cpp.
| virtual std::string robot_controllers::ScaledMimicController::getType | ( | ) | [inline, virtual] |
Get the type of this controller.
Reimplemented from robot_controllers::Controller.
Definition at line 107 of file scaled_mimic.h.
| int robot_controllers::ScaledMimicController::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 45 of file scaled_mimic.cpp.
| bool robot_controllers::ScaledMimicController::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.
- Returns:
- True if successfully reset, false otherwise.
Implements robot_controllers::Controller.
Definition at line 92 of file scaled_mimic.cpp.
| bool robot_controllers::ScaledMimicController::start | ( | ) | [virtual] |
Attempt to start the controller. This should be called only by the ControllerManager instance.
- Returns:
- True if successfully started, false otherwise.
Implements robot_controllers::Controller.
Definition at line 75 of file scaled_mimic.cpp.
| bool robot_controllers::ScaledMimicController::stop | ( | bool | force | ) | [virtual] |
Attempt to stop the controller. This should be called only by the ControllerManager instance.
- Parameters:
-
force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.
- Returns:
- True if successfully stopped, false otherwise.
Implements robot_controllers::Controller.
Definition at line 86 of file scaled_mimic.cpp.
| void robot_controllers::ScaledMimicController::update | ( | const ros::Time & | now, |
| const ros::Duration & | dt | ||
| ) | [virtual] |
This is the update loop for the controller.
- Parameters:
-
time The system time. dt The timestep since last call to update.
Implements robot_controllers::Controller.
Definition at line 98 of file scaled_mimic.cpp.
Member Data Documentation
bool robot_controllers::ScaledMimicController::initialized_ [private] |
Definition at line 119 of file scaled_mimic.h.
Definition at line 121 of file scaled_mimic.h.
Definition at line 120 of file scaled_mimic.h.
double robot_controllers::ScaledMimicController::scale_ [private] |
Definition at line 122 of file scaled_mimic.h.
The documentation for this class was generated from the following files: