#include <srh_joint_muscle_valve_controller.hpp>

Inheritance diagram for controller::SrhJointMuscleValveController:

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

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

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

	SrhJointMuscleValveController ()

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

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

Public Member Functions inherited from controller::SrController
std::string	getJointName ()

	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 ()

Public Attributes
unsigned int	cmd_duration_ms_ [2]

int8_t	cmd_valve_muscle_ [2]

int8_t	cmd_valve_muscle_max_

int8_t	cmd_valve_muscle_min_

unsigned int	current_duration_ms_ [2]

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_

Private Member Functions
int8_t	clamp_command (int8_t cmd)
	enforce that the value of the received command is in the allowed range More...

void	read_parameters ()
	read all the controller settings from the parameter server More...

void	setCommandCB (const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr &msg)

Private Attributes
boost::shared_ptr< realtime_tools::RealtimePublisher< sr_robot_msgs::JointMuscleValveControllerState > >	controller_state_publisher_

ros::Subscriber	sub_command_

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

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 39 of file srh_joint_muscle_valve_controller.hpp.

Constructor & Destructor Documentation

controller::SrhJointMuscleValveController::SrhJointMuscleValveController ( )

Definition at line 44 of file srh_joint_muscle_valve_controller.cpp.

Member Function Documentation

int8_t controller::SrhJointMuscleValveController::clamp_command ( int8_t cmd )

private

enforce that the value of the received command is in the allowed range

Definition at line 327 of file srh_joint_muscle_valve_controller.cpp.

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

virtual

Reimplemented from controller::SrController.

Definition at line 149 of file srh_joint_muscle_valve_controller.cpp.

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

virtual

Implements controller::SrController.

Definition at line 50 of file srh_joint_muscle_valve_controller.cpp.

void controller::SrhJointMuscleValveController::read_parameters ( )

private

read all the controller settings from the parameter server

Definition at line 309 of file srh_joint_muscle_valve_controller.cpp.

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

virtual

Reimplemented from controller::SrController.

Definition at line 134 of file srh_joint_muscle_valve_controller.cpp.

void controller::SrhJointMuscleValveController::setCommandCB ( const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr & msg )

private

Definition at line 313 of file srh_joint_muscle_valve_controller.cpp.

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

virtual

Reimplemented from controller::SrController.

Definition at line 128 of file srh_joint_muscle_valve_controller.cpp.

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

virtual

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

Implements controller::SrController.

Definition at line 153 of file srh_joint_muscle_valve_controller.cpp.

Member Data Documentation

unsigned int controller::SrhJointMuscleValveController::cmd_duration_ms_[2]

Last duration commanded for the valve command for each muscle.

Definition at line 60 of file srh_joint_muscle_valve_controller.hpp.

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_[2]

Last commanded valve values for each muscle.

Definition at line 58 of file srh_joint_muscle_valve_controller.hpp.

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_max_

Definition at line 65 of file srh_joint_muscle_valve_controller.hpp.

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_min_

Definition at line 64 of file srh_joint_muscle_valve_controller.hpp.

boost::shared_ptr<realtime_tools::RealtimePublisher <sr_robot_msgs::JointMuscleValveControllerState> > controller::SrhJointMuscleValveController::controller_state_publisher_

private

Definition at line 70 of file srh_joint_muscle_valve_controller.hpp.

unsigned int controller::SrhJointMuscleValveController::current_duration_ms_[2]

Definition at line 62 of file srh_joint_muscle_valve_controller.hpp.

ros::Subscriber controller::SrhJointMuscleValveController::sub_command_

private

Definition at line 72 of file srh_joint_muscle_valve_controller.hpp.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation