#include <srh_syntouch_controllers.hpp>
Inheritance diagram for controller::SrhSyntouchController:
Public Member Functions | |
| bool | init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n) |
| SrhSyntouchController () | |
| 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... | |
| ~SrhSyntouchController () | |
 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 () |
Private Attributes | |
| sr_actuator::SrMotorActuator * | actuator_ |
| boost::scoped_ptr< realtime_tools::RealtimePublisher< sr_robot_msgs::JointControllerState > > | controller_state_publisher_ |
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 37 of file srh_syntouch_controllers.hpp.
Constructor & Destructor Documentation
| controller::SrhSyntouchController::SrhSyntouchController | ( | ) |
Definition at line 40 of file srh_syntouch_controllers.cpp.
| controller::SrhSyntouchController::~SrhSyntouchController | ( | ) |
Definition at line 45 of file srh_syntouch_controllers.cpp.
Member Function Documentation
|
virtual |
Implements controller::SrController.
Definition at line 50 of file srh_syntouch_controllers.cpp.
|
virtual |
Reimplemented from controller::SrController.
Definition at line 100 of file srh_syntouch_controllers.cpp.
|
virtual |
Issues commands to the joint. Should be called at regular intervals.
Implements controller::SrController.
Definition at line 107 of file srh_syntouch_controllers.cpp.
Member Data Documentation
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private |
Definition at line 59 of file srh_syntouch_controllers.hpp.
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private |
Definition at line 57 of file srh_syntouch_controllers.hpp.
The documentation for this class was generated from the following files: