#include <test_controller.h>
Public Member Functions | |
bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
Controller initialization in non-realtime. More... | |
void | starting () |
Controller startup in realtime. More... | |
void | stopping () |
Controller stopping in realtime. More... | |
void | update () |
Controller update loop in realtime. More... | |
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) |
bool | stopRequest () |
void | update (const ros::Time &time, const ros::Duration &period) |
void | updateRequest () |
virtual | ~Controller () |
Private Member Functions | |
bool | serviceCallback (pr2_mechanism_msgs::LoadController::Request &req, pr2_mechanism_msgs::LoadController::Response &resp) |
Service call. More... | |
Private Attributes | |
pr2_mechanism_model::Chain | chain_ |
unsigned int | counter_ |
pr2_mechanism_model::JointState * | joint_state_ |
KDL::Chain | kdl_chain_ |
double | max_effort_ |
boost::scoped_ptr< realtime_tools::RealtimePublisher< sensor_msgs::JointState > > | pub_ |
pr2_mechanism_model::RobotState * | robot_ |
ros::ServiceServer | srv_ |
ros::Time | time_of_last_cycle_ |
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_ |
Definition at line 14 of file test_controller.h.
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virtual |
Controller initialization in non-realtime.
Implements pr2_controller_interface::Controller.
Definition at line 9 of file test_controller.cpp.
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private |
Service call.
Definition at line 122 of file test_controller.cpp.
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virtual |
Controller startup in realtime.
Reimplemented from pr2_controller_interface::Controller.
Definition at line 86 of file test_controller.cpp.
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virtual |
Controller stopping in realtime.
Reimplemented from pr2_controller_interface::Controller.
Definition at line 117 of file test_controller.cpp.
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virtual |
Controller update loop in realtime.
Implements pr2_controller_interface::Controller.
Definition at line 94 of file test_controller.cpp.
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private |
Definition at line 24 of file test_controller.h.
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private |
Definition at line 28 of file test_controller.h.
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private |
Definition at line 23 of file test_controller.h.
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private |
Definition at line 25 of file test_controller.h.
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private |
Definition at line 27 of file test_controller.h.
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private |
Definition at line 21 of file test_controller.h.
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private |
Definition at line 22 of file test_controller.h.
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private |
Definition at line 20 of file test_controller.h.
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private |
Definition at line 26 of file test_controller.h.