joint_velocity_controller.h
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34 
35 #ifndef JOINT_VELOCITY_CONTROLLER_H
36 #define JOINT_VELOCITY_CONTROLLER_H
37 
62 #include <ros/node_handle.h>
63 #include <boost/scoped_ptr.hpp>
64 #include <boost/thread/condition.hpp>
65 
67 #include "control_toolbox/pid.h"
69 
70 // Services
71 #include <std_msgs/Float64.h>
72 
73 //Realtime publisher
74 #include <pr2_controllers_msgs/JointControllerState.h>
76 
77 namespace controller
78 {
79 
81 {
82 public:
83 
86 
87  bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
89 
95  void setCommand(double cmd);
96 
100  void getCommand(double & cmd);
101 
106  virtual void starting() {
107  command_ = 0.0;
109  }
110  virtual void update();
111 
112  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
113  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
114 
115  std::string getJointName();
118 
119  double command_;
120 private:
126 
128 
129  boost::scoped_ptr<
131  pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
132 
134  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
135 };
136 
137 } // namespace
138 
139 #endif
d
pr2_mechanism_model::JointState * joint_state_
void getCommand(double &cmd)
Get latest position command to the joint: revolute (angle) and prismatic (position).
string cmd
pr2_mechanism_model::RobotState * robot_
void getGains(double &p, double &i, double &d, double &i_max, double &i_min)
void setCommand(double cmd)
Give set position of the joint for next update: revolute (angle) and prismatic (position) ...
void setCommandCB(const std_msgs::Float64ConstPtr &msg)
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState > > controller_state_publisher_
virtual void starting()
Issues commands to the joint. Should be called at regular intervals.
void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min)
bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid)


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Mon Jun 10 2019 14:26:26