effort_controllers::JointGroupPositionController Class Reference

Forward command controller for a set of effort controlled joints (torque or force). More...

#include <joint_group_position_controller.h>

Inheritance diagram for effort_controllers::JointGroupPositionController:

Public Member Functions
bool	init (hardware_interface::EffortJointInterface *hw, ros::NodeHandle &n)
	JointGroupPositionController ()
	Forward command controller for a set of effort controlled joints (torque or force). More...
void	update (const ros::Time &, const ros::Duration &)
	~JointGroupPositionController ()
Public Member Functions inherited from controller_interface::Controller< hardware_interface::EffortJointInterface >
	Controller ()
virtual bool	init (hardware_interface::EffortJointInterface *, 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 ()

Public Attributes
realtime_tools::RealtimeBuffer< std::vector< double > >	commands_buffer_
std::vector< std::string >	joint_names_
std::vector< hardware_interface::JointHandle >	joints_
unsigned int	n_joints_
Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_

Private Member Functions
void	commandCB (const std_msgs::Float64MultiArrayConstPtr &msg)
void	enforceJointLimits (double &command, unsigned int index)

Private Attributes
std::vector< urdf::JointConstSharedPtr >	joint_urdfs_
std::vector< control_toolbox::Pid >	pid_controllers_
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_interface::Controller< hardware_interface::EffortJointInterface >
std::string	getHardwareInterfaceType () const
virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Detailed Description

Forward command controller for a set of effort controlled joints (torque or force).

This class forwards the commanded efforts down to a set of joints.

ROS

Parameters

type	Must be "JointGroupEffortController".
joints	List of names of the joints to control.

Subscribes to:

• command (std_msgs::Float64MultiArray) : The joint efforts to apply

Definition at line 68 of file joint_group_position_controller.h.

Constructor & Destructor Documentation

effort_controllers::JointGroupPositionController::JointGroupPositionController

(

)

Forward command controller for a set of effort controlled joints (torque or force).

This class forwards the commanded efforts down to a set of joints.

ROS

Parameters

type	Must be "JointGroupEffortController".
joints	List of names of the joints to control.

Subscribes to:

• command (std_msgs::Float64MultiArray) : The joint efforts to apply

Definition at line 58 of file joint_group_position_controller.cpp.

effort_controllers::JointGroupPositionController::~JointGroupPositionController

(

)

Definition at line 59 of file joint_group_position_controller.cpp.

Member Function Documentation

void effort_controllers::JointGroupPositionController::commandCB ( const std_msgs::Float64MultiArrayConstPtr &  msg )

private

Definition at line 163 of file joint_group_position_controller.cpp.

void effort_controllers::JointGroupPositionController::enforceJointLimits ( double &  command, unsigned int  index  )

private

Definition at line 173 of file joint_group_position_controller.cpp.

bool effort_controllers::JointGroupPositionController::init ( hardware_interface::EffortJointInterface *  hw, ros::NodeHandle &  n  )

virtual

Reimplemented from controller_interface::Controller< hardware_interface::EffortJointInterface >.

Definition at line 61 of file joint_group_position_controller.cpp.

void effort_controllers::JointGroupPositionController::update ( const ros::Time &  time, const ros::Duration &  period  )

virtual

Implements controller_interface::ControllerBase.

Definition at line 121 of file joint_group_position_controller.cpp.

Member Data Documentation

realtime_tools::RealtimeBuffer<std::vector<double> > effort_controllers::JointGroupPositionController::commands_buffer_

Definition at line 79 of file joint_group_position_controller.h.

std::vector< std::string > effort_controllers::JointGroupPositionController::joint_names_

Definition at line 77 of file joint_group_position_controller.h.

std::vector<urdf::JointConstSharedPtr> effort_controllers::JointGroupPositionController::joint_urdfs_

private

Definition at line 87 of file joint_group_position_controller.h.

std::vector< hardware_interface::JointHandle > effort_controllers::JointGroupPositionController::joints_

Definition at line 78 of file joint_group_position_controller.h.

unsigned int effort_controllers::JointGroupPositionController::n_joints_

Definition at line 80 of file joint_group_position_controller.h.

std::vector<control_toolbox::Pid> effort_controllers::JointGroupPositionController::pid_controllers_

private

Internal PID controllers.

Definition at line 85 of file joint_group_position_controller.h.

ros::Subscriber effort_controllers::JointGroupPositionController::sub_command_

private

Definition at line 83 of file joint_group_position_controller.h.

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

• joint_group_position_controller.h
• joint_group_position_controller.cpp