Controller for a parallel jaw gripper, is really only intended for use in simulation. More...

#include <parallel_gripper.h>

Inheritance diagram for robot_controllers::ParallelGripperController:

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...

virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...

	ParallelGripperController ()

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)
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...

virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller. More...

virtual	~ParallelGripperController ()

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 Types
typedef actionlib::SimpleActionServer< control_msgs::GripperCommandAction >	server_t

Private Member Functions
void	executeCb (const control_msgs::GripperCommandGoalConstPtr &goal)

Private Attributes
robot_controllers::PID	centering_pid_

double	effort_

double	goal_

bool	initialized_

JointHandlePtr	left_

ControllerManager *	manager_

double	max_effort_

double	max_position_

JointHandlePtr	right_

boost::shared_ptr< server_t >	server_

bool	use_centering_controller_

Detailed Description

Controller for a parallel jaw gripper, is really only intended for use in simulation.

Definition at line 58 of file parallel_gripper.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::GripperCommandAction> robot_controllers::ParallelGripperController::server_t

private

Definition at line 60 of file parallel_gripper.h.

Constructor & Destructor Documentation

robot_controllers::ParallelGripperController::ParallelGripperController ( )

inline

Definition at line 63 of file parallel_gripper.h.

virtual robot_controllers::ParallelGripperController::~ParallelGripperController ( )

inlinevirtual

Definition at line 66 of file parallel_gripper.h.

Member Function Documentation

void robot_controllers::ParallelGripperController::executeCb ( const control_msgs::GripperCommandGoalConstPtr & goal )

private

Definition at line 180 of file parallel_gripper.cpp.

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

virtual

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

Implements robot_controllers::Controller.

Definition at line 289 of file parallel_gripper.cpp.

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

virtual

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

Implements robot_controllers::Controller.

Definition at line 281 of file parallel_gripper.cpp.

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

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 109 of file parallel_gripper.h.

int robot_controllers::ParallelGripperController::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 parallel_gripper.cpp.

bool robot_controllers::ParallelGripperController::reset ( )

virtual

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 148 of file parallel_gripper.cpp.

bool robot_controllers::ParallelGripperController::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 107 of file parallel_gripper.cpp.

bool robot_controllers::ParallelGripperController::stop ( bool force )

virtual

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

Parameters

force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.

Returns: True if successfully stopped, false otherwise.

Implements robot_controllers::Controller.

Definition at line 126 of file parallel_gripper.cpp.

void robot_controllers::ParallelGripperController::update	(	const ros::Time &	now,
		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 154 of file parallel_gripper.cpp.

Member Data Documentation

robot_controllers::PID robot_controllers::ParallelGripperController::centering_pid_

private

Definition at line 133 of file parallel_gripper.h.

double robot_controllers::ParallelGripperController::effort_

private

Definition at line 129 of file parallel_gripper.h.

double robot_controllers::ParallelGripperController::goal_

private

Definition at line 129 of file parallel_gripper.h.

bool robot_controllers::ParallelGripperController::initialized_

private

Definition at line 123 of file parallel_gripper.h.

JointHandlePtr robot_controllers::ParallelGripperController::left_

private

Definition at line 126 of file parallel_gripper.h.

ControllerManager* robot_controllers::ParallelGripperController::manager_

private

Definition at line 124 of file parallel_gripper.h.

double robot_controllers::ParallelGripperController::max_effort_

private

Definition at line 129 of file parallel_gripper.h.

double robot_controllers::ParallelGripperController::max_position_

private

Definition at line 129 of file parallel_gripper.h.

JointHandlePtr robot_controllers::ParallelGripperController::right_

private

Definition at line 127 of file parallel_gripper.h.

boost::shared_ptr<server_t> robot_controllers::ParallelGripperController::server_

private

Definition at line 130 of file parallel_gripper.h.

bool robot_controllers::ParallelGripperController::use_centering_controller_

private

Definition at line 132 of file parallel_gripper.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation