#include <srh_example_controller.hpp>

Inheritance diagram for controller::SrhExampleController:

Public Member Functions
bool	init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)

bool	init (ros_ethercat_model::RobotStateInterface *robot, const std::string &joint_name)

	SrhExampleController ()

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

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

virtual	~SrhExampleController ()

Public Member Functions inherited from controller::SrController
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)

std::string	getJointName ()

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

	SrController ()

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 ()

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

Public Attributes inherited from controller::SrController
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 inherited from controller::SrController
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 inherited from controller::SrController
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...

Detailed Description

Definition at line 36 of file srh_example_controller.hpp.

Constructor & Destructor Documentation

controller::SrhExampleController::SrhExampleController ( )

The controller manager will instanciate one instance of this class per controlled joint.

Definition at line 40 of file srh_example_controller.cpp.

controller::SrhExampleController::~SrhExampleController ( )

virtual

Destructor.

Definition at line 47 of file srh_example_controller.cpp.

Member Function Documentation

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

virtual

The first init is used to read which joint is being controlled from the parameter server.

Parameters

robot	A pointer to the robot state, passed to the 2nd init function.
n	The ROS nodehandle, to be able to access the parameter server.

Returns: True if the 2nd init function succeeds.

Implements controller::SrController.

Definition at line 53 of file srh_example_controller.cpp.

bool controller::SrhExampleController::init	(	ros_ethercat_model::RobotStateInterface *	robot,
		const std::string &	joint_name
	)

This init funciton is called by the previous init function. It finishes to initalise the different necessary variables.

Parameters

robot	A pointer to the robot state (used to get the joint_state)
joint_name	The name of the joint which is controlled.

Returns: true if initialized.

Definition at line 79 of file srh_example_controller.cpp.

void controller::SrhExampleController::starting ( const ros::Time & time )

virtual

This method is called when the controller is started. The command is then to be the current position (or effort / velocity / ... depending on what you're controlling), so that the first command won't move the joint.

Reimplemented from controller::SrController.

Definition at line 145 of file srh_example_controller.cpp.

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

virtual

Issues commands to the joint. This method is called at the specified rate by the main loop.

Implements controller::SrController.

Definition at line 158 of file srh_example_controller.cpp.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation