controller::WristCalibrationController Class Reference

#include <wrist_calibration_controller.h>

Inheritance diagram for controller::WristCalibrationController:

Public Member Functions
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isCalibrated (pr2_controllers_msgs::QueryCalibrationState::Request &req, pr2_controllers_msgs::QueryCalibrationState::Response &resp)
virtual void	starting ()
virtual void	update ()
	WristCalibrationController ()
	~WristCalibrationController ()
Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()
bool	getController (const std::string &name, int sched, ControllerType *&c)
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
void	starting (const ros::Time &time)
bool	startRequest ()
void	stopping (const ros::Time &time)
virtual void	stopping ()
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
void	updateRequest ()
virtual	~Controller ()

Protected Types
enum	{   INITIALIZED, BEGINNING, MOVING_FLEX_TO_HIGH, MOVING_FLEX,   MOVING_ROLL_TO_LOW, MOVING_ROLL, CALIBRATED }

Protected Attributes
pr2_hardware_interface::Actuator *	actuator_l_
pr2_hardware_interface::Actuator *	actuator_r_
int	countdown_
std::vector< pr2_hardware_interface::Actuator * >	fake_as
std::vector< pr2_mechanism_model::JointState * >	fake_js
pr2_mechanism_model::JointState *	flex_joint_
double	flex_search_velocity_
double	flex_switch_l_
double	flex_switch_r_
ros::ServiceServer	is_calibrated_srv_
ros::Time	last_publish_time_
ros::NodeHandle	node_
bool	original_switch_state_
double	prev_actuator_l_position_
double	prev_actuator_r_position_
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > >	pub_calibrated_
pr2_mechanism_model::RobotState *	robot_
pr2_mechanism_model::JointState *	roll_joint_
double	roll_search_velocity_
double	roll_switch_l_
double	roll_switch_r_
int	state_
boost::shared_ptr< pr2_mechanism_model::Transmission >	transmission_
controller::JointVelocityController	vc_flex_
controller::JointVelocityController	vc_roll_

Additional Inherited Members
Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_
	AFTER_ME
std::vector< std::string >	before_list_
	BEFORE_ME
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum pr2_controller_interface::Controller:: { ... }	state_

Detailed Description

Definition at line 45 of file wrist_calibration_controller.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
INITIALIZED
BEGINNING
MOVING_FLEX_TO_HIGH
MOVING_FLEX
MOVING_ROLL_TO_LOW
MOVING_ROLL
CALIBRATED

Definition at line 59 of file wrist_calibration_controller.h.

Constructor & Destructor Documentation

controller::WristCalibrationController::WristCalibrationController

(

)

Definition at line 42 of file wrist_calibration_controller.cpp.

controller::WristCalibrationController::~WristCalibrationController

(

)

Definition at line 47 of file wrist_calibration_controller.cpp.

Member Function Documentation

bool controller::WristCalibrationController::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 55 of file wrist_calibration_controller.cpp.

bool controller::WristCalibrationController::isCalibrated	(	pr2_controllers_msgs::QueryCalibrationState::Request &	req,
		pr2_controllers_msgs::QueryCalibrationState::Response &	resp
	)

Definition at line 288 of file wrist_calibration_controller.cpp.

void controller::WristCalibrationController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 278 of file wrist_calibration_controller.cpp.

void controller::WristCalibrationController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 297 of file wrist_calibration_controller.cpp.

Member Data Documentation

pr2_hardware_interface::Actuator* controller::WristCalibrationController::actuator_l_

protected

Definition at line 81 of file wrist_calibration_controller.h.

pr2_hardware_interface::Actuator * controller::WristCalibrationController::actuator_r_

protected

Definition at line 81 of file wrist_calibration_controller.h.

int controller::WristCalibrationController::countdown_

protected

Definition at line 73 of file wrist_calibration_controller.h.

std::vector<pr2_hardware_interface::Actuator*> controller::WristCalibrationController::fake_as

protected

Definition at line 86 of file wrist_calibration_controller.h.

std::vector<pr2_mechanism_model::JointState*> controller::WristCalibrationController::fake_js

protected

Definition at line 87 of file wrist_calibration_controller.h.

pr2_mechanism_model::JointState* controller::WristCalibrationController::flex_joint_

protected

Definition at line 82 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::flex_search_velocity_

protected

Definition at line 71 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::flex_switch_l_

protected

Definition at line 76 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::flex_switch_r_

protected

Definition at line 76 of file wrist_calibration_controller.h.

ros::ServiceServer controller::WristCalibrationController::is_calibrated_srv_

protected

Definition at line 67 of file wrist_calibration_controller.h.

ros::Time controller::WristCalibrationController::last_publish_time_

protected

Definition at line 66 of file wrist_calibration_controller.h.

ros::NodeHandle controller::WristCalibrationController::node_

protected

Definition at line 65 of file wrist_calibration_controller.h.

bool controller::WristCalibrationController::original_switch_state_

protected

Definition at line 72 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::prev_actuator_l_position_

protected

Definition at line 79 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::prev_actuator_r_position_

protected

Definition at line 79 of file wrist_calibration_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > controller::WristCalibrationController::pub_calibrated_

protected

Definition at line 68 of file wrist_calibration_controller.h.

pr2_mechanism_model::RobotState* controller::WristCalibrationController::robot_

protected

Definition at line 64 of file wrist_calibration_controller.h.

pr2_mechanism_model::JointState * controller::WristCalibrationController::roll_joint_

protected

Definition at line 82 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::roll_search_velocity_

protected

Definition at line 70 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::roll_switch_l_

protected

Definition at line 77 of file wrist_calibration_controller.h.

double controller::WristCalibrationController::roll_switch_r_

protected

Definition at line 77 of file wrist_calibration_controller.h.

int controller::WristCalibrationController::state_

protected

Definition at line 62 of file wrist_calibration_controller.h.

boost::shared_ptr<pr2_mechanism_model::Transmission> controller::WristCalibrationController::transmission_

protected

Definition at line 83 of file wrist_calibration_controller.h.

controller::JointVelocityController controller::WristCalibrationController::vc_flex_

protected

Definition at line 89 of file wrist_calibration_controller.h.

controller::JointVelocityController controller::WristCalibrationController::vc_roll_

protected

Definition at line 89 of file wrist_calibration_controller.h.

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

• wrist_calibration_controller.h
• wrist_calibration_controller.cpp