#include <counterbalance_test_controller.h>

Inheritance diagram for joint_qualification_controllers::CounterbalanceTestController:

Public Types
enum	{ STARTING, SETTLING, DITHERING, NEXT, DONE }

Public Member Functions
	CounterbalanceTestController ()

bool	done ()

bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Functional way to initialize. More...

bool	sendData ()

void	starting ()

void	update ()
	Issues commands to the joint. Should be called at regular intervals. More...

	~CounterbalanceTestController ()

Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()

bool	getController (const std::string &name, int sched, ControllerType *&c)

bool	initRequest (ControllerProvider cp, pr2_mechanism_model::RobotState robot, ros::NodeHandle &n)

bool	isRunning ()

void	starting (const ros::Time &time)

bool	startRequest ()

void	stopping (const ros::Time &time)

virtual void	stopping ()

bool	stopRequest ()

void	update (const ros::Time &time, const ros::Duration &period)

void	updateRequest ()

virtual	~Controller ()

Public Attributes
joint_qualification_controllers::CounterbalanceTestData	cb_test_data_

Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_

	AFTER_ME

std::vector< std::string >	before_list_

	BEFORE_ME

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum pr2_controller_interface::Controller:: { ... }	state_

Private Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< joint_qualification_controllers::CounterbalanceTestData > >	cb_data_pub_

bool	data_sent_

int	dither_count_

int	dither_points_

controller::JointPositionController *	flex_controller_

control_toolbox::Dither *	flex_dither_

uint	flex_index_

pr2_mechanism_model::JointState *	flex_state_

ros::Time	initial_time_

controller::JointPositionController *	lift_controller_

control_toolbox::Dither *	lift_dither_

uint	lift_index_

pr2_mechanism_model::JointState *	lift_state_

pr2_mechanism_model::RobotState *	robot_

double	settle_time_

ros::Time	start_time_

int	starting_count_

int	state_

double	timeout_

Detailed Description

Definition at line 63 of file counterbalance_test_controller.h.

Member Enumeration Documentation

anonymous enum

Enumerator
STARTING
SETTLING
DITHERING
NEXT
DONE

Definition at line 67 of file counterbalance_test_controller.h.

Constructor & Destructor Documentation

CounterbalanceTestController::CounterbalanceTestController ( )

Todo:: Need PID's for lift, flex

Definition at line 47 of file counterbalance_test_controller.cpp.

CounterbalanceTestController::~CounterbalanceTestController ( )

Definition at line 108 of file counterbalance_test_controller.cpp.

Member Function Documentation

bool joint_qualification_controllers::CounterbalanceTestController::done ( )

inline

Definition at line 88 of file counterbalance_test_controller.h.

bool CounterbalanceTestController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

virtual

Functional way to initialize.

Parameters

*robot	The robot that is being controlled.
&n	Node handle for parameters and services

Implements pr2_controller_interface::Controller.

Definition at line 116 of file counterbalance_test_controller.cpp.

bool CounterbalanceTestController::sendData ( )

Definition at line 553 of file counterbalance_test_controller.cpp.

void CounterbalanceTestController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 435 of file counterbalance_test_controller.cpp.

void CounterbalanceTestController::update ( void )

virtual

Issues commands to the joint. Should be called at regular intervals.

Implements pr2_controller_interface::Controller.

Definition at line 440 of file counterbalance_test_controller.cpp.

Member Data Documentation

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::CounterbalanceTestData> > joint_qualification_controllers::CounterbalanceTestController::cb_data_pub_

private

Definition at line 122 of file counterbalance_test_controller.h.

joint_qualification_controllers::CounterbalanceTestData joint_qualification_controllers::CounterbalanceTestController::cb_test_data_

Definition at line 90 of file counterbalance_test_controller.h.

bool joint_qualification_controllers::CounterbalanceTestController::data_sent_

private

Definition at line 120 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::dither_count_

private

Definition at line 115 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::dither_points_

private

Definition at line 112 of file counterbalance_test_controller.h.

controller::JointPositionController* joint_qualification_controllers::CounterbalanceTestController::flex_controller_

private

Definition at line 97 of file counterbalance_test_controller.h.

control_toolbox::Dither* joint_qualification_controllers::CounterbalanceTestController::flex_dither_

private

Definition at line 94 of file counterbalance_test_controller.h.

uint joint_qualification_controllers::CounterbalanceTestController::flex_index_

private

Definition at line 118 of file counterbalance_test_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::CounterbalanceTestController::flex_state_

private

Definition at line 99 of file counterbalance_test_controller.h.

ros::Time joint_qualification_controllers::CounterbalanceTestController::initial_time_

private

Definition at line 108 of file counterbalance_test_controller.h.

controller::JointPositionController* joint_qualification_controllers::CounterbalanceTestController::lift_controller_

private

Definition at line 96 of file counterbalance_test_controller.h.

control_toolbox::Dither* joint_qualification_controllers::CounterbalanceTestController::lift_dither_

private

Definition at line 93 of file counterbalance_test_controller.h.

uint joint_qualification_controllers::CounterbalanceTestController::lift_index_

private

Definition at line 117 of file counterbalance_test_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::CounterbalanceTestController::lift_state_

private

Definition at line 100 of file counterbalance_test_controller.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::CounterbalanceTestController::robot_

private

Definition at line 102 of file counterbalance_test_controller.h.

double joint_qualification_controllers::CounterbalanceTestController::settle_time_

private

Definition at line 110 of file counterbalance_test_controller.h.

ros::Time joint_qualification_controllers::CounterbalanceTestController::start_time_

private

Definition at line 111 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::starting_count_

private

Definition at line 104 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::state_

private

Definition at line 106 of file counterbalance_test_controller.h.

double joint_qualification_controllers::CounterbalanceTestController::timeout_

private

Definition at line 113 of file counterbalance_test_controller.h.

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

Public Types

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation