joint_qualification_controllers::WristDifferenceController Class Reference

#include <wrist_difference_controller.h>

Inheritance diagram for joint_qualification_controllers::WristDifferenceController:

Public Types
enum	{   STARTING, LEFT, RIGHT, ANALYZING,   DONE }

Public Member Functions
void	analysis ()
	Perform the test analysis. More...
bool	done ()
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...
	WristDifferenceController ()
	~WristDifferenceController ()
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 Attributes
bool	data_sent_
controller::JointPositionController *	flex_controller_
pr2_mechanism_model::JointState *	flex_joint_
double	flex_position_
double	initial_position_
ros::Time	initial_time_
int	left_count_
int	right_count_
pr2_mechanism_model::RobotState *	robot_
controller::JointVelocityController *	roll_controller_
pr2_mechanism_model::JointState *	roll_joint_
double	roll_velocity_
double	sd_max_
int	start_count_
int	starting_count
int	state_
double	timeout_
double	tolerance_
boost::scoped_ptr< realtime_tools::RealtimePublisher< joint_qualification_controllers::WristDiffData > >	wrist_data_pub_
joint_qualification_controllers::WristDiffData	wrist_test_data_

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

Definition at line 62 of file wrist_difference_controller.h.

Member Enumeration Documentation

anonymous enum

Enumerator
STARTING
LEFT
RIGHT
ANALYZING
DONE

Definition at line 66 of file wrist_difference_controller.h.

Constructor & Destructor Documentation

WristDifferenceController::WristDifferenceController

(

)

Definition at line 46 of file wrist_difference_controller.cpp.

WristDifferenceController::~WristDifferenceController

(

)

Definition at line 101 of file wrist_difference_controller.cpp.

Member Function Documentation

void WristDifferenceController::analysis

(

)

Perform the test analysis.

Definition at line 346 of file wrist_difference_controller.cpp.

bool joint_qualification_controllers::WristDifferenceController::done ( )

inline

Definition at line 98 of file wrist_difference_controller.h.

bool WristDifferenceController::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 107 of file wrist_difference_controller.cpp.

bool WristDifferenceController::sendData

(

)

Sends data, returns true if sent.

Definition at line 376 of file wrist_difference_controller.cpp.

void WristDifferenceController::starting ( )

virtual

Called when controller is started.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 248 of file wrist_difference_controller.cpp.

void WristDifferenceController::update ( void  )

virtual

Issues commands to the joint to perform hysteresis test.

Implements pr2_controller_interface::Controller.

Definition at line 256 of file wrist_difference_controller.cpp.

Member Data Documentation

bool joint_qualification_controllers::WristDifferenceController::data_sent_

private

Definition at line 123 of file wrist_difference_controller.h.

controller::JointPositionController* joint_qualification_controllers::WristDifferenceController::flex_controller_

private

Definition at line 107 of file wrist_difference_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::WristDifferenceController::flex_joint_

private

Definition at line 104 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::flex_position_

private

Definition at line 110 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::initial_position_

private

Definition at line 113 of file wrist_difference_controller.h.

ros::Time joint_qualification_controllers::WristDifferenceController::initial_time_

private

Start time of the test.

Definition at line 112 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::left_count_

private

Definition at line 114 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::right_count_

private

Definition at line 114 of file wrist_difference_controller.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::WristDifferenceController::robot_

private

Definition at line 106 of file wrist_difference_controller.h.

controller::JointVelocityController* joint_qualification_controllers::WristDifferenceController::roll_controller_

private

Definition at line 108 of file wrist_difference_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::WristDifferenceController::roll_joint_

private

Definition at line 105 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::roll_velocity_

private

Velocity during the test.

Definition at line 111 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::sd_max_

private

Definition at line 118 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::start_count_

private

Definition at line 114 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::starting_count

private

Definition at line 121 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::state_

private

Definition at line 120 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::timeout_

private

Definition at line 116 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::tolerance_

private

Definition at line 117 of file wrist_difference_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::WristDiffData> > joint_qualification_controllers::WristDifferenceController::wrist_data_pub_

private

Definition at line 126 of file wrist_difference_controller.h.

joint_qualification_controllers::WristDiffData joint_qualification_controllers::WristDifferenceController::wrist_test_data_

private

Definition at line 102 of file wrist_difference_controller.h.

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

• wrist_difference_controller.h
• wrist_difference_controller.cpp