sr_mechanism_controllers Directory Reference

Directory dependency graph for sr_mechanism_controllers:

Directories
directory	test

Files
file	joint_spline_trajectory_action_controller.hpp [code]
	Implement an actionlib server to execute a control_msgs::JointTrajectoryAction. Follows the given trajectory with the arm.
file	joint_trajectory_action_controller.hpp [code]
	Implement an actionlib server to execute a control_msgs::JointTrajectoryAction. Follows the given trajectory with the arm.
file	sr_controller.hpp [code]
	A generic controller for the Shadow Robot EtherCAT hand's joints.
file	sr_friction_compensation.hpp [code]
	Compensate the tendon friction by adding a given value depending on the sign of the force demand.
file	sr_plain_pid.hpp [code]
file	srh_fake_joint_calibration_controller.h [code]
	A Fake joint calibration controller. Only loads the force pid settings from the parameter server.
file	srh_joint_effort_controller.hpp [code]
	Compute an effort demand from the effort error. As the effort PID loop is running on the motor boards, there's no PID loops involved here. We're just using the friction compensation algorithm to take into account the friction of the tendons.
file	srh_joint_muscle_valve_controller.hpp [code]
	Compute an effort demand from the effort error. As the effort PID loop is running on the motor boards, there's no PID loops involved here. We're just using the friction compensation algorithm to take into account the friction of the tendons.
file	srh_joint_position_controller.hpp [code]
file	srh_joint_variable_pid_position_controller.hpp [code]
file	srh_joint_velocity_controller.hpp [code]
	Follows a position target. The position demand is converted into a force demand by a PID loop.
file	srh_mixed_position_velocity_controller.hpp [code]
	Compute a velocity demand from the position error using a PID loop. The velocity demand is then converted into a force demand by a second PID loop and is sent to the motor.
file	srh_muscle_joint_position_controller.hpp [code]