Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | List of all members
controller::Pr2BaseController2 Class Reference

#include <pr2_base_controller2.h>

Inheritance diagram for controller::Pr2BaseController2:
Inheritance graph
[legend]

Public Member Functions

geometry_msgs::Twist getCommand ()
 Returns the current position command. More...
 
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 
 Pr2BaseController2 ()
 Default Constructor of the Pr2BaseController2 class. More...
 
void setCommand (const geometry_msgs::Twist &cmd_vel)
 
void setDesiredCasterSteer ()
 set the desired caster steer More...
 
void setJointCommands ()
 set the joint commands More...
 
void starting ()
 
void update ()
 (a) Updates commands to caster and wheels. Called every timestep in realtime More...
 
 ~Pr2BaseController2 ()
 Destructor of the Pr2BaseController2 class. More...
 
- 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 ()
 

Public Attributes

BaseKinematics base_kinematics_
 class where the robot's information is computed and stored More...
 
pthread_mutex_t pr2_base_controller_lock_
 mutex lock for setting and getting commands More...
 
- 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_
 

Private Member Functions

void commandCallback (const geometry_msgs::TwistConstPtr &msg)
 deal with Twist commands More...
 
void computeDesiredCasterSteer (const double &dT)
 computes the desired caster speeds given the desired base speed More...
 
void computeDesiredWheelSpeeds (const double &dT)
 computes the desired wheel speeds given the desired base speed More...
 
void computeJointCommands (const double &dT)
 computes the desired caster steers and wheel speeds More...
 
geometry_msgs::Twist interpolateCommand (const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT)
 interpolates velocities within a given time based on maximum accelerations More...
 
void publishState (const ros::Time &current_time)
 Publish the state. More...
 
void setDesiredWheelSpeeds ()
 sends the desired wheel speeds to the wheel controllers More...
 
void updateJointControllers ()
 tells the wheel and caster controllers to update their speeds More...
 

Private Attributes

double alpha_stall_
 low pass filter value used for finding stalls More...
 
geometry_msgs::Twist base_vel_msg_
 callback message, used to remember where the base is commanded to go More...
 
std::vector< boost::shared_ptr< JointVelocityController > > caster_controller_
 vector that stores the caster controllers More...
 
std::vector< control_toolbox::Pidcaster_position_pid_
 The pid controllers for caster position. More...
 
filters::MultiChannelTransferFunctionFilter< double > caster_vel_filter_
 
ros::Time cmd_received_timestamp_
 timestamp corresponding to when the command received by the node More...
 
ros::Subscriber cmd_sub_
 
ros::Subscriber cmd_sub_deprecated_
 
geometry_msgs::Twist cmd_vel_
 speed command vector used internally to represent the current commanded speed More...
 
double cmd_vel_rot_eps_
 minimum rotational velocity value allowable More...
 
geometry_msgs::Twist cmd_vel_t_
 Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller. More...
 
double cmd_vel_trans_eps_
 minimum tranlational velocity value allowable More...
 
geometry_msgs::Twist desired_vel_
 Input speed command vector represents the desired speed requested by the node. More...
 
double eps_
 generic epsilon value that is used as a minimum or maximum allowable input value More...
 
std::vector< double > filtered_velocity_
 
std::vector< double > filtered_wheel_velocity_
 
double kp_caster_steer_
 local gain used for speed control of the caster (to achieve resultant position control) More...
 
ros::Time last_publish_time_
 Time interval between state publishing. More...
 
ros::Time last_time_
 time corresponding to when update was last called More...
 
geometry_msgs::Twist max_accel_
 acceleration limits specified externally More...
 
double max_rotational_velocity_
 maximum rotational velocity magnitude allowable More...
 
double max_translational_velocity_
 maximum translational velocity magnitude allowable More...
 
geometry_msgs::Twist max_vel_
 velocity limits specified externally More...
 
bool new_cmd_available_
 true when new command received by node More...
 
ros::NodeHandle node_
 
bool publish_state_
 
ros::NodeHandle root_handle_
 
double state_publish_rate_
 
double state_publish_time_
 Time interval between state publishing. More...
 
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_mechanism_controllers::BaseControllerState2 > > state_publisher_
 publishes information about the caster and wheel controllers More...
 
double timeout_
 timeout specifying time that the controller waits before setting the current velocity command to zero More...
 
std::vector< boost::shared_ptr< JointVelocityController > > wheel_controller_
 vector that stores the wheel controllers More...
 
std::vector< control_toolbox::Pidwheel_pid_controllers_
 The pid controllers for caster position. More...
 
filters::MultiChannelTransferFunctionFilter< double > wheel_vel_filter_
 

Detailed Description

Definition at line 55 of file pr2_base_controller2.h.

Constructor & Destructor Documentation

controller::Pr2BaseController2::Pr2BaseController2 ( )

Default Constructor of the Pr2BaseController2 class.

Definition at line 47 of file pr2_base_controller2.cpp.

controller::Pr2BaseController2::~Pr2BaseController2 ( )

Destructor of the Pr2BaseController2 class.

Definition at line 68 of file pr2_base_controller2.cpp.

Member Function Documentation

void controller::Pr2BaseController2::commandCallback ( const geometry_msgs::TwistConstPtr &  msg)
private

deal with Twist commands

Definition at line 494 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::computeDesiredCasterSteer ( const double &  dT)
private

computes the desired caster speeds given the desired base speed

Definition at line 381 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::computeDesiredWheelSpeeds ( const double &  dT)
private

computes the desired wheel speeds given the desired base speed

Definition at line 437 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::computeJointCommands ( const double &  dT)
private

computes the desired caster steers and wheel speeds

Definition at line 365 of file pr2_base_controller2.cpp.

geometry_msgs::Twist controller::Pr2BaseController2::getCommand ( )

Returns the current position command.

Returns
Current velocity command

Definition at line 260 of file pr2_base_controller2.cpp.

bool controller::Pr2BaseController2::init ( pr2_mechanism_model::RobotState robot,
ros::NodeHandle n 
)
virtual

Implements pr2_controller_interface::Controller.

Definition at line 74 of file pr2_base_controller2.cpp.

geometry_msgs::Twist controller::Pr2BaseController2::interpolateCommand ( const geometry_msgs::Twist &  start,
const geometry_msgs::Twist &  end,
const geometry_msgs::Twist &  max_rate,
const double &  dT 
)
private

interpolates velocities within a given time based on maximum accelerations

Definition at line 221 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::publishState ( const ros::Time current_time)
private

Publish the state.

Definition at line 324 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::setCommand ( const geometry_msgs::Twist &  cmd_vel)

Definition at line 188 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::setDesiredCasterSteer ( )

set the desired caster steer

Definition at line 429 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::setDesiredWheelSpeeds ( )
private

sends the desired wheel speeds to the wheel controllers

Definition at line 478 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::setJointCommands ( )

set the joint commands

Definition at line 374 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::starting ( )
virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 271 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::update ( void  )
virtual

(a) Updates commands to caster and wheels. Called every timestep in realtime

Implements pr2_controller_interface::Controller.

Definition at line 285 of file pr2_base_controller2.cpp.

void controller::Pr2BaseController2::updateJointControllers ( )
private

tells the wheel and caster controllers to update their speeds

Definition at line 486 of file pr2_base_controller2.cpp.

Member Data Documentation

double controller::Pr2BaseController2::alpha_stall_
private

low pass filter value used for finding stalls

Definition at line 192 of file pr2_base_controller2.h.

BaseKinematics controller::Pr2BaseController2::base_kinematics_

class where the robot's information is computed and stored

Returns
BaseKinematic instance that is being used by this controller

Definition at line 95 of file pr2_base_controller2.h.

geometry_msgs::Twist controller::Pr2BaseController2::base_vel_msg_
private

callback message, used to remember where the base is commanded to go

Definition at line 247 of file pr2_base_controller2.h.

std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController2::caster_controller_
private

vector that stores the caster controllers

Definition at line 202 of file pr2_base_controller2.h.

std::vector<control_toolbox::Pid> controller::Pr2BaseController2::caster_position_pid_
private

The pid controllers for caster position.

Definition at line 285 of file pr2_base_controller2.h.

filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController2::caster_vel_filter_
private

Definition at line 287 of file pr2_base_controller2.h.

ros::Time controller::Pr2BaseController2::cmd_received_timestamp_
private

timestamp corresponding to when the command received by the node

Definition at line 146 of file pr2_base_controller2.h.

ros::Subscriber controller::Pr2BaseController2::cmd_sub_
private

Definition at line 124 of file pr2_base_controller2.h.

ros::Subscriber controller::Pr2BaseController2::cmd_sub_deprecated_
private

Definition at line 126 of file pr2_base_controller2.h.

geometry_msgs::Twist controller::Pr2BaseController2::cmd_vel_
private

speed command vector used internally to represent the current commanded speed

Definition at line 157 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::cmd_vel_rot_eps_
private

minimum rotational velocity value allowable

Definition at line 257 of file pr2_base_controller2.h.

geometry_msgs::Twist controller::Pr2BaseController2::cmd_vel_t_
private

Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller.

Definition at line 152 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::cmd_vel_trans_eps_
private

minimum tranlational velocity value allowable

Definition at line 272 of file pr2_base_controller2.h.

geometry_msgs::Twist controller::Pr2BaseController2::desired_vel_
private

Input speed command vector represents the desired speed requested by the node.

Definition at line 162 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::eps_
private

generic epsilon value that is used as a minimum or maximum allowable input value

Definition at line 252 of file pr2_base_controller2.h.

std::vector<double> controller::Pr2BaseController2::filtered_velocity_
private

Definition at line 289 of file pr2_base_controller2.h.

std::vector<double> controller::Pr2BaseController2::filtered_wheel_velocity_
private

Definition at line 293 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::kp_caster_steer_
private

local gain used for speed control of the caster (to achieve resultant position control)

Definition at line 187 of file pr2_base_controller2.h.

ros::Time controller::Pr2BaseController2::last_publish_time_
private

Time interval between state publishing.

Definition at line 267 of file pr2_base_controller2.h.

ros::Time controller::Pr2BaseController2::last_time_
private

time corresponding to when update was last called

Definition at line 141 of file pr2_base_controller2.h.

geometry_msgs::Twist controller::Pr2BaseController2::max_accel_
private

acceleration limits specified externally

Definition at line 172 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::max_rotational_velocity_
private

maximum rotational velocity magnitude allowable

Definition at line 182 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::max_translational_velocity_
private

maximum translational velocity magnitude allowable

Definition at line 177 of file pr2_base_controller2.h.

geometry_msgs::Twist controller::Pr2BaseController2::max_vel_
private

velocity limits specified externally

Definition at line 167 of file pr2_base_controller2.h.

bool controller::Pr2BaseController2::new_cmd_available_
private

true when new command received by node

Definition at line 136 of file pr2_base_controller2.h.

ros::NodeHandle controller::Pr2BaseController2::node_
private

Definition at line 120 of file pr2_base_controller2.h.

pthread_mutex_t controller::Pr2BaseController2::pr2_base_controller_lock_

mutex lock for setting and getting commands

Definition at line 100 of file pr2_base_controller2.h.

bool controller::Pr2BaseController2::publish_state_
private

Definition at line 280 of file pr2_base_controller2.h.

ros::NodeHandle controller::Pr2BaseController2::root_handle_
private

Definition at line 122 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::state_publish_rate_
private

Definition at line 262 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::state_publish_time_
private

Time interval between state publishing.

Definition at line 262 of file pr2_base_controller2.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState2> > controller::Pr2BaseController2::state_publisher_
private

publishes information about the caster and wheel controllers

Definition at line 207 of file pr2_base_controller2.h.

double controller::Pr2BaseController2::timeout_
private

timeout specifying time that the controller waits before setting the current velocity command to zero

Definition at line 131 of file pr2_base_controller2.h.

std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController2::wheel_controller_
private

vector that stores the wheel controllers

Definition at line 197 of file pr2_base_controller2.h.

std::vector<control_toolbox::Pid> controller::Pr2BaseController2::wheel_pid_controllers_
private

The pid controllers for caster position.

Definition at line 298 of file pr2_base_controller2.h.

filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController2::wheel_vel_filter_
private

Definition at line 291 of file pr2_base_controller2.h.


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


pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Wed Jun 5 2019 19:34:08