#include <srh_mixed_position_velocity_controller.hpp>

Inheritance diagram for controller::SrhMixedPositionVelocityJointController:

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

virtual void	getGains_velocity (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)

bool	setGains (sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &req, sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &resp)

	SrhMixedPositionVelocityJointController ()

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 ()

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

void	resetJointState ()

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

Private Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< sr_robot_msgs::JointControllerState > >	controller_state_publisher_

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

double	maintained_command_

double	max_velocity_
	The values for the velocity demand saturation. More...

double	min_velocity_

int	motor_min_force_threshold
	smallest demand we can send to the motors More...

bool	override_to_current_effort_
	Override commanded_effort to current effort when in deadband. More...

boost::scoped_ptr< control_toolbox::Pid >	pid_controller_position_
	Internal PID controller for the position loop. More...

boost::scoped_ptr< control_toolbox::Pid >	pid_controller_velocity_
	Internal PID controller for the velocity loop. More...

double	position_deadband
	the deadband on the position demand More...

bool	prev_in_deadband_
	Stores if was previously in the deadband. More...

ros::ServiceServer	serve_set_gains_

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)

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_mixed_position_velocity_controller.hpp.

Constructor & Destructor Documentation

controller::SrhMixedPositionVelocityJointController::SrhMixedPositionVelocityJointController ( )

Definition at line 49 of file srh_mixed_position_velocity_controller.cpp.

Member Function Documentation

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

virtual

Reimplemented from controller::SrController.

Definition at line 262 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::getGains_velocity	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

virtual

Definition at line 267 of file srh_mixed_position_velocity_controller.cpp.

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

virtual

Implements controller::SrController.

Definition at line 56 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::read_parameters ( )

private

read all the controller settings from the parameter server

Definition at line 451 of file srh_mixed_position_velocity_controller.cpp.

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

virtual

Reimplemented from controller::SrController.

Definition at line 236 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::resetJointState ( )

private

Definition at line 474 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::setCommandCB ( const std_msgs::Float64ConstPtr & msg )

privatevirtual

set the position target from a topic

Reimplemented from controller::SrController.

Definition at line 465 of file srh_mixed_position_velocity_controller.cpp.

bool controller::SrhMixedPositionVelocityJointController::setGains	(	sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &	req,
		sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &	resp
	)

Definition at line 184 of file srh_mixed_position_velocity_controller.cpp.

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

virtual

Reimplemented from controller::SrController.

Definition at line 170 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::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 273 of file srh_mixed_position_velocity_controller.cpp.

Member Data Documentation

boost::scoped_ptr<realtime_tools::RealtimePublisher <sr_robot_msgs::JointControllerState> > controller::SrhMixedPositionVelocityJointController::controller_state_publisher_

private

Definition at line 71 of file srh_mixed_position_velocity_controller.hpp.

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

private

We're using an hysteresis deadband.

Definition at line 91 of file srh_mixed_position_velocity_controller.hpp.

double controller::SrhMixedPositionVelocityJointController::maintained_command_

private

Definition at line 78 of file srh_mixed_position_velocity_controller.hpp.

double controller::SrhMixedPositionVelocityJointController::max_velocity_

private

The values for the velocity demand saturation.