#include <trigger_controller.h>

Inheritance diagram for controller::TriggerController:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)

	TriggerController ()

void	update ()

	~TriggerController ()

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)

virtual void	starting ()

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 ()

Static Public Member Functions
static double	getTick (double t, trigger_configuration const &config)
	Convert time to an unrolled phase (in cycles). More...

static double	getTick (const ros::Time &t, trigger_configuration const &config)
	Convert time to an unrolled phase (in cycles). More...

static ros::Duration	getTickDuration (trigger_configuration &config)
	Gets the time during which the output will be active during each cycle. More...

static double	getTickDurationSec (trigger_configuration &config)
	Gets the time during which the output will be active during each cycle. More...

static ros::Time	getTickStartTime (ros::Time time, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts. More...

static ros::Time	getTickStartTimeFromPhase (double tick, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts. More...

static double	getTickStartTimeSec (double time, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts. More...

static double	getTickStartTimeSecFromPhase (double tick, trigger_configuration const &config)
	Gets the ros::Time at which a cycle starts. More...

Private Member Functions
double	getTick ()

bool	setWaveformSrv (trigger_configuration &req, ethercat_trigger_controllers::SetWaveform::Response &resp)

Private Attributes
std::string	actuator_name_

trigger_configuration	config_

pr2_hardware_interface::DigitalOutCommand *	digital_out_command_

boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Header > >	falling_edge_pub_

bool	last_out_

ros::NodeHandle	node_handle_

double	prev_tick_

boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Header > >	rising_edge_pub_

pr2_mechanism_model::RobotState *	robot_

ros::ServiceServer	set_waveform_handle_

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 58 of file trigger_controller.h.

Constructor & Destructor Documentation

◆ TriggerController()

TriggerController::TriggerController ( )

Definition at line 69 of file trigger_controller.cpp.

◆ ~TriggerController()

TriggerController::~TriggerController ( )

Definition at line 74 of file trigger_controller.cpp.

Member Function Documentation

◆ getTick() [1/3]

static double controller::TriggerController::getTick	(	double	t,
		trigger_configuration const &	config
	)

inlinestatic

Convert time to an unrolled phase (in cycles).

At time 0, the unrolled phase is equal to -config.phase. Thereafter, phase increases at a rate of 1/config.rep_rate.

Parameters

t	Time for which the phase should be evaluated.
config	Trigger configuration for which the phase should be evaluated.

Returns: Unrolled phase in cycles.

Definition at line 82 of file trigger_controller.h.

◆ getTick() [2/3]

static double controller::TriggerController::getTick	(	const ros::Time &	t,
		trigger_configuration const &	config
	)

inlinestatic

Convert time to an unrolled phase (in cycles).

At time 0, the unrolled phase is equal to -config.phase. Thereafter, phase increases at a rate of 1/config.rep_rate. This function returns the unrolled phase.

Parameters

t	Time for which the phase should be evaluated.
config	Trigger configuration for which the phase should be evaluated.

Returns: Unrolled phase in cycles.

Definition at line 101 of file trigger_controller.h.

◆ getTick() [3/3]

double TriggerController::getTick ( )

private

Definition at line 78 of file trigger_controller.cpp.

◆ getTickDuration()

static ros::Duration controller::TriggerController::getTickDuration ( trigger_configuration & config )

inlinestatic

Gets the time during which the output will be active during each cycle.

This function determines how much time the output is active for during each cycle.

Parameters

config Trigger configuration for which the cycle start should be evaluated.

Returns: Cycle start time.

Definition at line 194 of file trigger_controller.h.

◆ getTickDurationSec()

static double controller::TriggerController::getTickDurationSec ( trigger_configuration & config )

inlinestatic

Gets the time during which the output will be active during each cycle.

This function determines how much time the output is active for during each cycle.

Parameters

config Trigger configuration for which the cycle start should be evaluated.

Returns: Cycle start time.

Definition at line 211 of file trigger_controller.h.

◆ getTickStartTime()

static ros::Time controller::TriggerController::getTickStartTime	(	ros::Time	time,
		trigger_configuration const &	config
	)

inlinestatic

Gets the ros::Time at which a cycle starts.

This function takes a time, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters

tick	Time for which to perform the computation.
config	Trigger configuration for which the cycle start should be evaluated.

Returns: Cycle start time.

Definition at line 158 of file trigger_controller.h.

◆ getTickStartTimeFromPhase()

static ros::Time controller::TriggerController::getTickStartTimeFromPhase	(	double	tick,
		trigger_configuration const &	config
	)

inlinestatic

Gets the ros::Time at which a cycle starts.

This function takes an unrolled phase, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters

tick	Unrolled phase.
config	Trigger configuration for which the cycle start should be evaluated.

Returns: Cycle start time.

Definition at line 139 of file trigger_controller.h.

◆ getTickStartTimeSec()

static double controller::TriggerController::getTickStartTimeSec	(	double	time,
		trigger_configuration const &	config
	)

inlinestatic

Gets the ros::Time at which a cycle starts.

This function takes a time, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters

tick	Time for which to perform the computation.
config	Trigger configuration for which the cycle start should be evaluated.

Returns: Cycle start time.

Definition at line 177 of file trigger_controller.h.

◆ getTickStartTimeSecFromPhase()

static double controller::TriggerController::getTickStartTimeSecFromPhase	(	double	tick,
		trigger_configuration const &	config
	)

inlinestatic

Gets the ros::Time at which a cycle starts.

This function takes an unrolled phase, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters

tick	Unrolled phase.
config	Trigger configuration for which the cycle start should be evaluated.

Returns: Cycle start time.

Definition at line 120 of file trigger_controller.h.

◆ init()

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 149 of file trigger_controller.cpp.

◆ setWaveformSrv()

bool TriggerController::setWaveformSrv	(	trigger_configuration &	req,
		ethercat_trigger_controllers::SetWaveform::Response &	resp
	)

private

Definition at line 211 of file trigger_controller.cpp.

◆ update()

void TriggerController::update ( void )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 83 of file trigger_controller.cpp.

Member Data Documentation

◆ actuator_name_

std::string controller::TriggerController::actuator_name_

private

Definition at line 242 of file trigger_controller.h.

◆ config_

trigger_configuration controller::TriggerController::config_

private

Definition at line 241 of file trigger_controller.h.

◆ digital_out_command_

pr2_hardware_interface::DigitalOutCommand* controller::TriggerController::digital_out_command_

private

Definition at line 228 of file trigger_controller.h.

◆ falling_edge_pub_

boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Header> > controller::TriggerController::falling_edge_pub_

private

Definition at line 237 of file trigger_controller.h.

◆ last_out_

bool controller::TriggerController::last_out_

private

Definition at line 238 of file trigger_controller.h.

◆ node_handle_

ros::NodeHandle controller::TriggerController::node_handle_

private

Definition at line 233 of file trigger_controller.h.

◆ prev_tick_

double controller::TriggerController::prev_tick_

private

Definition at line 230 of file trigger_controller.h.

◆ rising_edge_pub_

boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Header> > controller::TriggerController::rising_edge_pub_

private

Definition at line 237 of file trigger_controller.h.

◆ robot_

pr2_mechanism_model::RobotState* controller::TriggerController::robot_

private

Definition at line 227 of file trigger_controller.h.

◆ set_waveform_handle_

ros::ServiceServer controller::TriggerController::set_waveform_handle_

private

Definition at line 232 of file trigger_controller.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ TriggerController()

◆ ~TriggerController()

Member Function Documentation

◆ getTick() [1/3]

◆ getTick() [2/3]

◆ getTick() [3/3]

◆ getTickDuration()

◆ getTickDurationSec()

◆ getTickStartTime()

◆ getTickStartTimeFromPhase()

◆ getTickStartTimeSec()

◆ getTickStartTimeSecFromPhase()

◆ init()

◆ setWaveformSrv()

◆ update()

Member Data Documentation

◆ actuator_name_

◆ config_

◆ digital_out_command_

◆ falling_edge_pub_

◆ last_out_

◆ node_handle_

◆ prev_tick_

◆ rising_edge_pub_

◆ robot_

◆ set_waveform_handle_