joint_qualification_controllers::HysteresisController Class Reference

Hystersis Controller. More...

#include <hysteresis_controller.h>

Inheritance diagram for joint_qualification_controllers::HysteresisController:

Public Types
enum	{   STOPPED, MOVING_HOME, MOVING_UP, MOVING_DOWN,   ANALYZING, DONE }

Public Member Functions
void	analysis ()
	Perform the test analysis. More...
bool	done ()
	HysteresisController ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Functional way to initialize. More...
bool	sendData ()
	Sends data, returns true if sent. More...
void	starting ()
	Called when controller is started. More...
void	update ()
	Issues commands to the joint to perform hysteresis test. More...
	~HysteresisController ()
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 ()

Private Member Functions
bool	turn ()

Private Attributes
bool	complete
bool	data_sent_
int	down_count_
boost::scoped_ptr< realtime_tools::RealtimePublisher< joint_qualification_controllers::HysteresisData > >	hyst_pub_
double	initial_position_
ros::Time	initial_time_
pr2_mechanism_model::JointState *	joint_
double	last_publish_time_
double	max_effort_
pr2_mechanism_model::RobotState *	robot_
int	starting_count_
int	state_
joint_qualification_controllers::HysteresisData	test_data_
double	timeout_
int	up_count_
double	velocity_
controller::JointVelocityController *	velocity_controller_

Additional Inherited Members
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_

Detailed Description

Hystersis Controller.

This tests the hysteresis of a joint using a velocity controller.

Definition at line 60 of file hysteresis_controller.h.

Member Enumeration Documentation

anonymous enum

Enumerator
STOPPED
MOVING_HOME
MOVING_UP
MOVING_DOWN
ANALYZING
DONE

Definition at line 64 of file hysteresis_controller.h.

Constructor & Destructor Documentation

HysteresisController::HysteresisController

(

)

Definition at line 47 of file hysteresis_controller.cpp.

HysteresisController::~HysteresisController

(

)

Definition at line 91 of file hysteresis_controller.cpp.

Member Function Documentation

void HysteresisController::analysis

(

)

Perform the test analysis.

Definition at line 317 of file hysteresis_controller.cpp.

bool joint_qualification_controllers::HysteresisController::done ( )

inline

Definition at line 96 of file hysteresis_controller.h.

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

virtual

Functional way to initialize.

Parameters

*robot	The robot that is being controlled.
&n	NodeHandle of mechanism control

Implements pr2_controller_interface::Controller.

Definition at line 96 of file hysteresis_controller.cpp.

bool HysteresisController::sendData

(

)

Sends data, returns true if sent.

Definition at line 338 of file hysteresis_controller.cpp.

void HysteresisController::starting ( )

virtual

Called when controller is started.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 211 of file hysteresis_controller.cpp.

bool HysteresisController::turn ( )

private

Definition at line 300 of file hysteresis_controller.cpp.

void HysteresisController::update ( void  )

virtual

Issues commands to the joint to perform hysteresis test.

Implements pr2_controller_interface::Controller.

Definition at line 219 of file hysteresis_controller.cpp.

Member Data Documentation

bool joint_qualification_controllers::HysteresisController::complete

private

Definition at line 110 of file hysteresis_controller.h.

bool joint_qualification_controllers::HysteresisController::data_sent_

private

Definition at line 117 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::down_count_

private

Definition at line 109 of file hysteresis_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData> > joint_qualification_controllers::HysteresisController::hyst_pub_

private

Definition at line 122 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::initial_position_

private

Definition at line 108 of file hysteresis_controller.h.

ros::Time joint_qualification_controllers::HysteresisController::initial_time_

private

Start time of the test.

Definition at line 107 of file hysteresis_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::HysteresisController::joint_

private

Joint we're controlling.

Definition at line 102 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::last_publish_time_

private

Definition at line 119 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::max_effort_

private

Maximum allowable effort.

Definition at line 106 of file hysteresis_controller.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::HysteresisController::robot_

private

Pointer to robot structure.

Definition at line 103 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::starting_count_

private

Definition at line 115 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::state_

private

Definition at line 114 of file hysteresis_controller.h.

joint_qualification_controllers::HysteresisData joint_qualification_controllers::HysteresisController::test_data_

private

Definition at line 100 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::timeout_

private

Definition at line 112 of file hysteresis_controller.h.

int joint_qualification_controllers::HysteresisController::up_count_

private

Definition at line 109 of file hysteresis_controller.h.

double joint_qualification_controllers::HysteresisController::velocity_

private

Velocity during the test.

Definition at line 105 of file hysteresis_controller.h.

controller::JointVelocityController* joint_qualification_controllers::HysteresisController::velocity_controller_

private

The velocity controller for the hysteresis test.

Definition at line 104 of file hysteresis_controller.h.

---

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

• hysteresis_controller.h
• hysteresis_controller.cpp