Hystersis Controller. More...

#include <hysteresis_controller2.h>

Inheritance diagram for joint_qualification_controllers::HysteresisController2:

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

Public Member Functions
void	analysis ()
	Perform the test analysis. More...

bool	done ()

	HysteresisController2 ()

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...

	~HysteresisController2 ()

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::HysteresisData2 > >	hyst_pub_

double	initial_position_

ros::Time	initial_time_

pr2_mechanism_model::JointState *	joint_

double	last_publish_time_

double	max_effort_

std::vector< int >	move_count_

int	repeat_

int	repeat_count_

pr2_mechanism_model::RobotState *	robot_

int	starting_count_

int	state_

joint_qualification_controllers::HysteresisData2	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_controller2.h.

Member Enumeration Documentation

anonymous enum

Enumerator
STOPPED
MOVING_HOME
MOVING_UP
MOVING_DOWN
ANALYZING
DONE

Definition at line 64 of file hysteresis_controller2.h.

Constructor & Destructor Documentation

HysteresisController2::HysteresisController2 ( )

Definition at line 47 of file hysteresis_controller2.cpp.

HysteresisController2::~HysteresisController2 ( )

Definition at line 97 of file hysteresis_controller2.cpp.

Member Function Documentation

void HysteresisController2::analysis ( )

Perform the test analysis.

Definition at line 358 of file hysteresis_controller2.cpp.

bool joint_qualification_controllers::HysteresisController2::done ( )

inline

Definition at line 96 of file hysteresis_controller2.h.

bool HysteresisController2::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 102 of file hysteresis_controller2.cpp.

bool HysteresisController2::sendData ( )

Sends data, returns true if sent.

Definition at line 373 of file hysteresis_controller2.cpp.

void HysteresisController2::starting ( )

virtual

Called when controller is started.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 239 of file hysteresis_controller2.cpp.

bool HysteresisController2::turn ( )

private

Definition at line 341 of file hysteresis_controller2.cpp.

void HysteresisController2::update ( void )

virtual

Issues commands to the joint to perform hysteresis test.

Implements pr2_controller_interface::Controller.

Definition at line 247 of file hysteresis_controller2.cpp.

Member Data Documentation

bool joint_qualification_controllers::HysteresisController2::complete

private

Definition at line 113 of file hysteresis_controller2.h.

bool joint_qualification_controllers::HysteresisController2::data_sent_

private

Definition at line 120 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::down_count_

private

Definition at line 109 of file hysteresis_controller2.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::HysteresisData2> > joint_qualification_controllers::HysteresisController2::hyst_pub_

private

Definition at line 125 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::initial_position_

private

Definition at line 108 of file hysteresis_controller2.h.

ros::Time joint_qualification_controllers::HysteresisController2::initial_time_

private

Start time of the test.

Definition at line 107 of file hysteresis_controller2.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::HysteresisController2::joint_

private

Joint we're controlling.

Definition at line 102 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::last_publish_time_

private

Definition at line 122 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::max_effort_

private

Maximum allowable effort.

Definition at line 106 of file hysteresis_controller2.h.

std::vector<int> joint_qualification_controllers::HysteresisController2::move_count_

private

Definition at line 110 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::repeat_

private

Definition at line 112 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::repeat_count_

private

Definition at line 111 of file hysteresis_controller2.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::HysteresisController2::robot_

private

Pointer to robot structure.

Definition at line 103 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::starting_count_

private

Definition at line 118 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::state_

private

Definition at line 117 of file hysteresis_controller2.h.

joint_qualification_controllers::HysteresisData2 joint_qualification_controllers::HysteresisController2::test_data_

private

Definition at line 100 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::timeout_

private

Definition at line 115 of file hysteresis_controller2.h.

int joint_qualification_controllers::HysteresisController2::up_count_

private

Definition at line 109 of file hysteresis_controller2.h.

double joint_qualification_controllers::HysteresisController2::velocity_

private

Velocity during the test.

Definition at line 105 of file hysteresis_controller2.h.

controller::JointVelocityController* joint_qualification_controllers::HysteresisController2::velocity_controller_

private

The velocity controller for the hysteresis test.

Definition at line 104 of file hysteresis_controller2.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation