robot_controllers::GravityCompensation Class Reference

Controller which uses KDL to compute torque needed for static holding of the chain at the current pose. More...

#include <gravity_compensation.h>

Inheritance diagram for robot_controllers::GravityCompensation:

Public Member Functions
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims. More...
virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands. More...
virtual std::string	getType ()
	Get the type of this controller. More...
	GravityCompensation ()
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...
virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition. More...
virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...
virtual bool	stop (bool force)
	Stop this controller. More...
virtual void	update (const ros::Time &time, const ros::Duration &dt)
	This is the update loop for the controller. More...
virtual	~GravityCompensation ()
Public Member Functions inherited from robot_controllers::Controller
	Controller ()
std::string	getName ()
virtual	~Controller ()
Public Member Functions inherited from robot_controllers::Handle
	Handle ()
virtual	~Handle ()

Private Attributes
bool	initialized_
std::vector< JointHandlePtr >	joints_
KDL::Chain	kdl_chain_
	is KDL structure setup More...
boost::shared_ptr< KDL::ChainDynParam >	kdl_chain_dynamics_
ControllerManager *	manager_
KDL::JntArrayVel	positions_

Detailed Description

Controller which uses KDL to compute torque needed for static holding of the chain at the current pose.

Definition at line 67 of file gravity_compensation.h.

Constructor & Destructor Documentation

robot_controllers::GravityCompensation::GravityCompensation ( )

inline

Definition at line 70 of file gravity_compensation.h.

virtual robot_controllers::GravityCompensation::~GravityCompensation ( )

inlinevirtual

Definition at line 71 of file gravity_compensation.h.

Member Function Documentation

std::vector< std::string > robot_controllers::GravityCompensation::getClaimedNames ( )

virtual

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 139 of file gravity_compensation.cpp.

std::vector< std::string > robot_controllers::GravityCompensation::getCommandedNames ( )

virtual

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 127 of file gravity_compensation.cpp.

virtual std::string robot_controllers::GravityCompensation::getType ( )

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 121 of file gravity_compensation.h.

int robot_controllers::GravityCompensation::init ( ros::NodeHandle &  nh, ControllerManager *  manager  )

virtual

Initialize the controller and any required data structures.

Parameters

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns

0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 46 of file gravity_compensation.cpp.

virtual bool robot_controllers::GravityCompensation::reset ( )

inlinevirtual

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.

Returns

True if successfully reset, false otherwise.

Implements robot_controllers::Controller.

Definition at line 107 of file gravity_compensation.h.

bool robot_controllers::GravityCompensation::start ( )

virtual

Attempt to start the controller. This should be called only by the ControllerManager instance.

Returns

True if successfully started, false otherwise.

Implements robot_controllers::Controller.

Definition at line 101 of file gravity_compensation.cpp.

virtual bool robot_controllers::GravityCompensation::stop ( bool  force )

inlinevirtual

Stop this controller.

Parameters

force

If true, this controller will be stopped regardless of return value.

Returns

true if controller preempted successfully.

Implements robot_controllers::Controller.

Definition at line 95 of file gravity_compensation.h.

void robot_controllers::GravityCompensation::update ( const ros::Time &  time, const ros::Duration &  dt  )

virtual

This is the update loop for the controller.

Parameters

time	The system time.
dt	The timestep since last call to update.

Implements robot_controllers::Controller.

Definition at line 108 of file gravity_compensation.cpp.

Member Data Documentation

bool robot_controllers::GravityCompensation::initialized_

private

Definition at line 136 of file gravity_compensation.h.

std::vector<JointHandlePtr> robot_controllers::GravityCompensation::joints_

private

Definition at line 134 of file gravity_compensation.h.

KDL::Chain robot_controllers::GravityCompensation::kdl_chain_

private

is KDL structure setup

Definition at line 138 of file gravity_compensation.h.

boost::shared_ptr<KDL::ChainDynParam> robot_controllers::GravityCompensation::kdl_chain_dynamics_

private

Definition at line 140 of file gravity_compensation.h.

ControllerManager* robot_controllers::GravityCompensation::manager_

private

Definition at line 133 of file gravity_compensation.h.

KDL::JntArrayVel robot_controllers::GravityCompensation::positions_

private

Definition at line 139 of file gravity_compensation.h.

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

• gravity_compensation.h
• gravity_compensation.cpp