gripperController Class Reference

#include <gripper_controller.h>

Public Member Functions
bool	forceRampTo (double force, double duration)
bool	forceServo2 (double desired_Force)
bool	grabObject (double close_speed, int contactsDesired)
	gripperController (pr2_mechanism_model::JointState *joint_state_, pressureObserver *pressure_observer_, accelerationObserver *acceleration_observer_)
bool	initializeGripper ()
bool	place (int placeConditions, double acc_trigger, double slip_trigger)
bool	positionServo (double desiredPos, double desiredVel)
bool	slipServo2 ()
void	updateData ()
bool	velocityServo (double desiredVel)
	~gripperController ()

Public Attributes
double	accThresh
double	coulomb
bool	deformation_limit_flag
bool	dropped_flag
double	dt
double	fingertip_force_limit
bool	firstRamp
bool	force_limit_flag
double	force_servo_force_tolerance
double	forceContact
double	forceContact_l
double	forceContact_r
double	gripper_state_now_measured_effort
double	gripper_state_now_position
double	gripper_state_now_velocity
double	gripper_state_prev_measured_effort
double	gripper_state_prev_position
double	gripper_state_prev_velocity
pr2_mechanism_model::JointState *	jointState
double	kD
double	kP
double	lpVelocity
double	max_effort
accelerationObserver *	myAccelerationObserver
pressureObserver *	myPressureObserver
double	objectForce
double	positionClosed
double	positionContact
double	positionCurrent
double	positionDropped
double	positionMarker
double	positionMarker_limit
double	positionOpen
double	ramp_start_force
double	ramp_start_time
double	servoForce
bool	slip_flag
double	vel_integral
double	vel_integral_vcontrol
digitalFilter *	velocityLPFilt

Private Attributes
double	initialPosition
double	time_cur
double	time_prev

Detailed Description

Definition at line 54 of file gripper_controller.h.

Constructor & Destructor Documentation

gripperController::gripperController	(	pr2_mechanism_model::JointState *	joint_state_,
		pressureObserver *	pressure_observer_,
		accelerationObserver *	acceleration_observer_
	)

Definition at line 380 of file gripper_controller.h.

gripperController::~gripperController

(

)

Definition at line 423 of file gripper_controller.h.

Member Function Documentation

bool gripperController::forceRampTo	(	double	force,
		double	duration
	)

Definition at line 302 of file gripper_controller.h.

bool gripperController::forceServo2

(

double

desired_Force

)

Definition at line 247 of file gripper_controller.h.

bool gripperController::grabObject	(	double	close_speed,
		int	contactsDesired
	)

Definition at line 154 of file gripper_controller.h.

bool gripperController::initializeGripper

(

)

Definition at line 374 of file gripper_controller.h.

bool gripperController::place	(	int	placeConditions,
		double	acc_trigger,
		double	slip_trigger
	)

Definition at line 179 of file gripper_controller.h.

bool gripperController::positionServo	(	double	desiredPos,
		double	desiredVel
	)

Definition at line 338 of file gripper_controller.h.

bool gripperController::slipServo2

(

)

Definition at line 203 of file gripper_controller.h.

void gripperController::updateData

(

)

Definition at line 125 of file gripper_controller.h.

bool gripperController::velocityServo

(

double

desiredVel

)

Definition at line 326 of file gripper_controller.h.

Member Data Documentation

double gripperController::accThresh

Definition at line 88 of file gripper_controller.h.

double gripperController::coulomb

Definition at line 108 of file gripper_controller.h.

bool gripperController::deformation_limit_flag

Definition at line 79 of file gripper_controller.h.

bool gripperController::dropped_flag

Definition at line 81 of file gripper_controller.h.

double gripperController::dt

Definition at line 107 of file gripper_controller.h.

double gripperController::fingertip_force_limit

Definition at line 73 of file gripper_controller.h.

bool gripperController::firstRamp

Definition at line 114 of file gripper_controller.h.

bool gripperController::force_limit_flag

Definition at line 80 of file gripper_controller.h.

double gripperController::force_servo_force_tolerance

Definition at line 99 of file gripper_controller.h.

double gripperController::forceContact

Definition at line 97 of file gripper_controller.h.

double gripperController::forceContact_l

Definition at line 98 of file gripper_controller.h.

double gripperController::forceContact_r

Definition at line 98 of file gripper_controller.h.

double gripperController::gripper_state_now_measured_effort

Definition at line 102 of file gripper_controller.h.

double gripperController::gripper_state_now_position

Definition at line 102 of file gripper_controller.h.

double gripperController::gripper_state_now_velocity

Definition at line 102 of file gripper_controller.h.

double gripperController::gripper_state_prev_measured_effort

Definition at line 103 of file gripper_controller.h.

double gripperController::gripper_state_prev_position

Definition at line 103 of file gripper_controller.h.

double gripperController::gripper_state_prev_velocity

Definition at line 103 of file gripper_controller.h.

double gripperController::initialPosition

private

Definition at line 119 of file gripper_controller.h.

pr2_mechanism_model::JointState* gripperController::jointState

Definition at line 110 of file gripper_controller.h.

double gripperController::kD

Definition at line 106 of file gripper_controller.h.

double gripperController::kP

Definition at line 105 of file gripper_controller.h.

double gripperController::lpVelocity

Definition at line 87 of file gripper_controller.h.

double gripperController::max_effort

Definition at line 72 of file gripper_controller.h.

accelerationObserver* gripperController::myAccelerationObserver

Definition at line 112 of file gripper_controller.h.

pressureObserver* gripperController::myPressureObserver

Definition at line 111 of file gripper_controller.h.

double gripperController::objectForce

Definition at line 95 of file gripper_controller.h.

double gripperController::positionClosed

Definition at line 91 of file gripper_controller.h.

double gripperController::positionContact

Definition at line 96 of file gripper_controller.h.

double gripperController::positionCurrent

Definition at line 92 of file gripper_controller.h.

double gripperController::positionDropped

Definition at line 93 of file gripper_controller.h.

double gripperController::positionMarker

Definition at line 75 of file gripper_controller.h.

double gripperController::positionMarker_limit

Definition at line 74 of file gripper_controller.h.

double gripperController::positionOpen

Definition at line 90 of file gripper_controller.h.

double gripperController::ramp_start_force

Definition at line 116 of file gripper_controller.h.

double gripperController::ramp_start_time

Definition at line 115 of file gripper_controller.h.

double gripperController::servoForce

Definition at line 94 of file gripper_controller.h.

bool gripperController::slip_flag

Definition at line 78 of file gripper_controller.h.

double gripperController::time_cur

private

Definition at line 120 of file gripper_controller.h.

double gripperController::time_prev

private

Definition at line 120 of file gripper_controller.h.

double gripperController::vel_integral

Definition at line 85 of file gripper_controller.h.

double gripperController::vel_integral_vcontrol

Definition at line 86 of file gripper_controller.h.

digitalFilter* gripperController::velocityLPFilt

Definition at line 89 of file gripper_controller.h.

---

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

• gripper_controller.h