caster_controller.h
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 /*
31  * Author: Stuart Glaser
32 
33  Example config:
34 
35  <controller type="CasterController" name="a_caster">
36  <joints caster="caster_joint" wheel_l="wheel_left_joint" wheel_r="wheel_right_joint">
37  <caster_pid p="5.0" i="0.0" d="0.0" iClamp="0.0" />
38  <wheel_pid p="4.0" i="0.0" d="0.0" iClamp="0.0" />
39  </controller>
40 
41  YAML config
42 \verbatim
43 caster_fl:
44  type: CasterController
45  caster_pid: {p: 6.0}
46  wheel_pid: {p: 4.0}
47  joints:
48  caster: fl_caster_rotation_joint
49  wheel_l: fl_caster_l_wheel_joint
50  wheel_r: fl_caster_r_wheel_joint
51 \endverbatim
52 
53  */
54 
55 #ifndef CASTER_CONTROLLER_H
56 #define CASTER_CONTROLLER_H
57 
58 #include "ros/node_handle.h"
59 
62 #include "control_toolbox/pid.h"
64 #include "std_msgs/Float64.h"
65 #include <boost/thread/condition.hpp>
66 
67 namespace controller {
68 
70 {
71 public:
72  const static double WHEEL_RADIUS;
73  const static double WHEEL_OFFSET;
74 
77 
78  bool init(pr2_mechanism_model::RobotState *robot_state,
79  const std::string &caster_joint,
80  const std::string &wheel_l_joint, const std::string &wheel_r_joint,
81  const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid);
83 
84  void update();
85 
88 
89  double getSteerPosition() { return caster_->position_; }
90  double getSteerVelocity() { return caster_->velocity_; }
91 
93 
94 private:
99 
100  void setSteerCB(const std_msgs::Float64ConstPtr& msg);
101  void setDriveCB(const std_msgs::Float64ConstPtr& msg);
102 };
103 
104 }
105 
106 #endif
static const double WHEEL_OFFSET
JointVelocityController caster_vel_
pr2_mechanism_model::JointState * caster_
JointVelocityController wheel_r_vel_
void setSteerCB(const std_msgs::Float64ConstPtr &msg)
JointVelocityController wheel_l_vel_
void setDriveCB(const std_msgs::Float64ConstPtr &msg)
bool init(pr2_mechanism_model::RobotState *robot_state, const std::string &caster_joint, const std::string &wheel_l_joint, const std::string &wheel_r_joint, const control_toolbox::Pid &caster_pid, const control_toolbox::Pid &wheel_pid)
static const double WHEEL_RADIUS


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Mon Jun 10 2019 14:26:33