#include <sr_controller.hpp>

Inheritance diagram for controller::SrController:

[legend]

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)

std::string	getJointName ()

virtual bool	init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)=0

virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

	SrController ()

virtual void	starting (const ros::Time &time)

virtual void	update (const ros::Time &time, const ros::Duration &period)=0
	Issues commands to the joint. Should be called at regular intervals. More...

virtual	~SrController ()

Public Member Functions inherited from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >
	Controller ()

virtual bool	init (ros_ethercat_model::RobotStateInterface *, ros::NodeHandle &, ros::NodeHandle &)

virtual	~Controller ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual	~ControllerBase ()

Public Attributes
double	command_

bool	has_j2

ros_ethercat_model::JointState *	joint_state_

ros_ethercat_model::JointState *	joint_state_2

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Protected Member Functions
void	after_init ()
	call this function at the end of the init function in the inheriting classes. More...

double	clamp_command (double cmd, double min_cmd, double max_cmd)

virtual double	clamp_command (double cmd)

void	get_joints_states_1_2 ()

void	get_min_max (urdf::Model model, std::string joint_name)

bool	is_joint_0 ()

void	maxForceFactorCB (const std_msgs::Float64ConstPtr &msg)

virtual void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	set the command from a topic More...

Protected Member Functions inherited from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >
std::string	getHardwareInterfaceType () const

virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Protected Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > >	controller_state_publisher_

double	eff_max_

double	eff_min_
	Min and max range of the effort, used to clamp the command. More...

boost::scoped_ptr< sr_friction_compensation::SrFrictionCompensator >	friction_compensator

int	friction_deadband
	the deadband for the friction compensation algorithm More...

sr_deadband::HysteresisDeadband< double >	hysteresis_deadband
	We're using an hysteresis deadband. More...

bool	initialized_

std::string	joint_name_

int	loop_count_

double	max_

double	max_force_demand
	clamps the force demand to this value More...

double	max_force_factor_

double	min_
	Min and max range of the joint, used to clamp the command. More...

ros::NodeHandle	n_tilde_

ros::NodeHandle	node_

ros_ethercat_model::RobotState *	robot_

ros::ServiceServer	serve_reset_gains_

ros::ServiceServer	serve_set_gains_

ros::Subscriber	sub_command_

ros::Subscriber	sub_max_force_factor_

double	vel_max_

double	vel_min_
	Min and max range of the velocity, used to clamp the command. More...

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Detailed Description

Definition at line 54 of file sr_controller.hpp.

Constructor & Destructor Documentation

controller::SrController::SrController ( )

Definition at line 40 of file sr_controller.cpp.

controller::SrController::~SrController ( )

virtual

Definition at line 61 of file sr_controller.cpp.

Member Function Documentation

void controller::SrController::after_init ( )

protected

call this function at the end of the init function in the inheriting classes.

Definition at line 89 of file sr_controller.cpp.

double controller::SrController::clamp_command	(	double	cmd,
		double	min_cmd,
		double	max_cmd
	)

protected

Clamps the command to the correct range (between min_cmd and max_cmd).

Parameters

cmd	the command we want to clamp
min_cmd	the min to clamp to
max_cmd	the max to clamp to

Returns: the clamped command

Definition at line 133 of file sr_controller.cpp.

double controller::SrController::clamp_command ( double cmd )

protectedvirtual

Clamps the command to the correct range (between angular min and max).

Parameters

cmd	the command we want to clamp

Returns: the clamped command

Reimplemented in controller::SrhJointVelocityController, and controller::SrhEffortJointController.

Definition at line 146 of file sr_controller.cpp.

void controller::SrController::get_joints_states_1_2 ( )

protected

Definition at line 77 of file sr_controller.cpp.

void controller::SrController::get_min_max	(	urdf::Model	model,
		std::string	joint_name
	)

protected

Reads the min and max from the robot model for the current joint.

Parameters

model	the urdf description of the robot
joint_name	the name of the joint

Definition at line 101 of file sr_controller.cpp.

virtual void controller::SrController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

inlinevirtual

Reimplemented in controller::SrhJointMuscleValveController, controller::SrhJointVariablePidPositionController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 78 of file sr_controller.hpp.

std::string controller::SrController::getJointName ( )

Definition at line 96 of file sr_controller.cpp.

virtual bool controller::SrController::init	(	ros_ethercat_model::RobotStateInterface *	robot,
		ros::NodeHandle &	n
	)

pure virtual

Reimplemented from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >.

Implemented in controller::SrhExampleController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhJointVariablePidPositionController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

bool controller::SrController::is_joint_0 ( )

protected

Definition at line 66 of file sr_controller.cpp.

void controller::SrController::maxForceFactorCB ( const std_msgs::Float64ConstPtr & msg )

protected

Callback function for the max force factor topic

Parameters

msg	the message receiver over the topic

Definition at line 151 of file sr_controller.cpp.

virtual bool controller::SrController::resetGains	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

inlinevirtual

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointMuscleValveController, controller::SrhJointVariablePidPositionController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 73 of file sr_controller.hpp.

virtual void controller::SrController::setCommandCB ( const std_msgs::Float64ConstPtr & msg )

inlineprotectedvirtual

set the command from a topic

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointVariablePidPositionController, controller::SrhMuscleJointPositionController, controller::SrhJointVelocityController, controller::SrhJointPositionController, and controller::SrhEffortJointController.

Definition at line 154 of file sr_controller.hpp.

virtual void controller::SrController::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Reimplemented in controller::SrhExampleController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhJointVariablePidPositionController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 64 of file sr_controller.hpp.

virtual void controller::SrController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

pure virtual

Issues commands to the joint. Should be called at regular intervals.

Implements controller_interface::ControllerBase.

Implemented in controller::SrhExampleController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhJointVariablePidPositionController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Member Data Documentation

double controller::SrController::command_

Last commanded position.

Definition at line 90 of file sr_controller.hpp.

boost::scoped_ptr<realtime_tools::RealtimePublisher <control_msgs::JointControllerState> > controller::SrController::controller_state_publisher_

protected

Definition at line 149 of file sr_controller.hpp.

double controller::SrController::eff_max_

protected

Definition at line 138 of file sr_controller.hpp.

double controller::SrController::eff_min_

protected

Min and max range of the effort, used to clamp the command.

Definition at line 138 of file sr_controller.hpp.

boost::scoped_ptr<sr_friction_compensation::SrFrictionCompensator> controller::SrController::friction_compensator

protected

Definition at line 151 of file sr_controller.hpp.

int controller::SrController::friction_deadband

protected

the deadband for the friction compensation algorithm

Definition at line 165 of file sr_controller.hpp.

bool controller::SrController::has_j2

true if this is a joint 0.

Definition at line 88 of file sr_controller.hpp.

sr_deadband::HysteresisDeadband<double> controller::SrController::hysteresis_deadband

protected

We're using an hysteresis deadband.

Definition at line 168 of file sr_controller.hpp.

bool controller::SrController::initialized_

protected

Definition at line 141 of file sr_controller.hpp.

std::string controller::SrController::joint_name_

protected

Definition at line 146 of file sr_controller.hpp.

ros_ethercat_model::JointState* controller::SrController::joint_state_

Joint we're controlling.

Definition at line 84 of file sr_controller.hpp.

ros_ethercat_model::JointState* controller::SrController::joint_state_2

2ndJoint we're controlling if joint 0.

Definition at line 86 of file sr_controller.hpp.

int controller::SrController::loop_count_

protected

Definition at line 140 of file sr_controller.hpp.

double controller::SrController::max_

protected

Definition at line 134 of file sr_controller.hpp.

double controller::SrController::max_force_demand

protected

clamps the force demand to this value

Definition at line 163 of file sr_controller.hpp.

double controller::SrController::max_force_factor_

protected

Definition at line 174 of file sr_controller.hpp.

double controller::SrController::min_

protected

Min and max range of the joint, used to clamp the command.

Definition at line 134 of file sr_controller.hpp.

ros::NodeHandle controller::SrController::n_tilde_

protected

Definition at line 145 of file sr_controller.hpp.

ros::NodeHandle controller::SrController::node_

protected

Definition at line 145 of file sr_controller.hpp.

ros_ethercat_model::RobotState* controller::SrController::robot_

protected

Pointer to robot structure.

Definition at line 142 of file sr_controller.hpp.

ros::ServiceServer controller::SrController::serve_reset_gains_

protected

Definition at line 160 of file sr_controller.hpp.

ros::ServiceServer controller::SrController::serve_set_gains_

protected

Definition at line 159 of file sr_controller.hpp.

ros::Subscriber controller::SrController::sub_command_

protected

Definition at line 158 of file sr_controller.hpp.

ros::Subscriber controller::SrController::sub_max_force_factor_

protected

Definition at line 175 of file sr_controller.hpp.

double controller::SrController::vel_max_

protected

Definition at line 136 of file sr_controller.hpp.

double controller::SrController::vel_min_

protected

Min and max range of the velocity, used to clamp the command.

Definition at line 136 of file sr_controller.hpp.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation