robot_controllers::ScaledMimicController Class Reference

Controller for a having one joint be a (scaled) mimic of another. Primary design use case is making a fake bellows joint that moves in relation to a torso lift joint. More...

#include <scaled_mimic.h>

Inheritance diagram for robot_controllers::ScaledMimicController:

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...
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...
	ScaledMimicController ()
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	~ScaledMimicController ()
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 Attributes
bool	initialized_
JointHandlePtr	joint_to_control_
JointHandlePtr	joint_to_mimic_
double	scale_

Detailed Description

Controller for a having one joint be a (scaled) mimic of another. Primary design use case is making a fake bellows joint that moves in relation to a torso lift joint.

Definition at line 58 of file scaled_mimic.h.

Member Typedef Documentation

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

private

Definition at line 60 of file scaled_mimic.h.

Constructor & Destructor Documentation

robot_controllers::ScaledMimicController::ScaledMimicController ( )

inline

Definition at line 63 of file scaled_mimic.h.

virtual robot_controllers::ScaledMimicController::~ScaledMimicController ( )

inlinevirtual

Definition at line 64 of file scaled_mimic.h.

Member Function Documentation

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

virtual

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

Implements robot_controllers::Controller.

Definition at line 113 of file scaled_mimic.cpp.

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

virtual

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

Implements robot_controllers::Controller.

Definition at line 106 of file scaled_mimic.cpp.

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

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 107 of file scaled_mimic.h.

int robot_controllers::ScaledMimicController::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 45 of file scaled_mimic.cpp.

bool robot_controllers::ScaledMimicController::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 92 of file scaled_mimic.cpp.

bool robot_controllers::ScaledMimicController::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 75 of file scaled_mimic.cpp.

bool robot_controllers::ScaledMimicController::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 86 of file scaled_mimic.cpp.

void robot_controllers::ScaledMimicController::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 98 of file scaled_mimic.cpp.

Member Data Documentation

bool robot_controllers::ScaledMimicController::initialized_

private

Definition at line 119 of file scaled_mimic.h.

JointHandlePtr robot_controllers::ScaledMimicController::joint_to_control_

private

Definition at line 121 of file scaled_mimic.h.

JointHandlePtr robot_controllers::ScaledMimicController::joint_to_mimic_

private

Definition at line 120 of file scaled_mimic.h.

double robot_controllers::ScaledMimicController::scale_

private

Definition at line 122 of file scaled_mimic.h.

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

• scaled_mimic.h
• scaled_mimic.cpp