controller::SrhFakeJointCalibrationController Class Reference

#include <srh_fake_joint_calibration_controller.h>

Inheritance diagram for controller::SrhFakeJointCalibrationController:

Public Member Functions
void	beginCalibration ()
bool	calibrated ()
virtual bool	init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)
	SrhFakeJointCalibrationController ()
virtual void	update (const ros::Time &time, const ros::Duration &period)
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 ()
virtual void	starting (const ros::Time &)
virtual void	starting (const ros::Time &)
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 ()

Protected Types
enum	{   IS_INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH,   CALIBRATED }

Protected Member Functions
void	initialize_pids ()
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
ros_ethercat_model::Actuator *	actuator_
std::string	actuator_name_
int	calibration_state_
ros_ethercat_model::JointState *	joint_
std::string	joint_name_
std::string	joint_prefix_
ros::Time	last_publish_time_
ros::NodeHandle	node_
std::string	ns_
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > >	pub_calibrated_
ros_ethercat_model::RobotState *	robot_
std::string	robot_id_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_

Detailed Description

Definition at line 43 of file srh_fake_joint_calibration_controller.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
IS_INITIALIZED
BEGINNING
MOVING_TO_LOW
MOVING_TO_HIGH
CALIBRATED

Definition at line 72 of file srh_fake_joint_calibration_controller.h.

Constructor & Destructor Documentation

controller::SrhFakeJointCalibrationController::SrhFakeJointCalibrationController

(

)

Definition at line 40 of file srh_fake_joint_calibration_controller.cpp.

Member Function Documentation

void controller::SrhFakeJointCalibrationController::beginCalibration ( )

inline

Definition at line 58 of file srh_fake_joint_calibration_controller.h.

bool controller::SrhFakeJointCalibrationController::calibrated ( )

inline

Definition at line 53 of file srh_fake_joint_calibration_controller.h.

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

virtual

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

Definition at line 49 of file srh_fake_joint_calibration_controller.cpp.

void controller::SrhFakeJointCalibrationController::initialize_pids ( )

protected

Read the pids values from the parameter server and calls the service to set them on the hand.

Definition at line 155 of file srh_fake_joint_calibration_controller.cpp.

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

virtual

Implements controller_interface::ControllerBase.

Definition at line 120 of file srh_fake_joint_calibration_controller.cpp.

Member Data Documentation

ros_ethercat_model::Actuator* controller::SrhFakeJointCalibrationController::actuator_

protected

Definition at line 78 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::actuator_name_

protected

Definition at line 81 of file srh_fake_joint_calibration_controller.h.

int controller::SrhFakeJointCalibrationController::calibration_state_

protected

Definition at line 76 of file srh_fake_joint_calibration_controller.h.

ros_ethercat_model::JointState* controller::SrhFakeJointCalibrationController::joint_

protected

Definition at line 79 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::joint_name_

protected

Definition at line 81 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::joint_prefix_

protected

Definition at line 81 of file srh_fake_joint_calibration_controller.h.

ros::Time controller::SrhFakeJointCalibrationController::last_publish_time_

protected

Definition at line 70 of file srh_fake_joint_calibration_controller.h.

ros::NodeHandle controller::SrhFakeJointCalibrationController::node_

protected

Definition at line 68 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::ns_

protected

Definition at line 81 of file srh_fake_joint_calibration_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > controller::SrhFakeJointCalibrationController::pub_calibrated_

protected

Definition at line 69 of file srh_fake_joint_calibration_controller.h.

ros_ethercat_model::RobotState* controller::SrhFakeJointCalibrationController::robot_

protected

Definition at line 67 of file srh_fake_joint_calibration_controller.h.

std::string controller::SrhFakeJointCalibrationController::robot_id_

protected

Definition at line 81 of file srh_fake_joint_calibration_controller.h.

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

• srh_fake_joint_calibration_controller.h
• srh_fake_joint_calibration_controller.cpp