controller::CasterCalibrationController Class Reference

#include <caster_calibration_controller.h>

Inheritance diagram for controller::CasterCalibrationController:

Public Member Functions
	CasterCalibrationController ()
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 ()
	~CasterCalibrationController ()
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, CALIBRATED }

Protected Attributes
pr2_hardware_interface::Actuator *	actuator_
ros::Time	beginning_
controller::CasterController	cc_
std::vector< pr2_hardware_interface::Actuator * >	fake_as
std::vector< pr2_mechanism_model::JointState * >	fake_js
ros::ServiceServer	is_calibrated_srv_
pr2_mechanism_model::JointState *	joint_
ros::Time	last_publish_time_
ros::NodeHandle	node_
double	original_position_
bool	original_switch_state_
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > >	pub_calibrated_
pr2_mechanism_model::RobotState *	robot_
double	search_velocity_
int	state_
boost::shared_ptr< pr2_mechanism_model::Transmission >	transmission_
int	unstick_iter_
pr2_mechanism_model::JointState *	wheel_l_joint_
pr2_mechanism_model::JointState *	wheel_r_joint_

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 48 of file caster_calibration_controller.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

protected

Enumerator
INITIALIZED
BEGINNING
MOVING
CALIBRATED

Definition at line 65 of file caster_calibration_controller.h.

Constructor & Destructor Documentation

CasterCalibrationController()

controller::CasterCalibrationController::CasterCalibrationController

(

)

Definition at line 41 of file caster_calibration_controller.cpp.

~CasterCalibrationController()

controller::CasterCalibrationController::~CasterCalibrationController

(

)

Definition at line 47 of file caster_calibration_controller.cpp.

Member Function Documentation

init()

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 55 of file caster_calibration_controller.cpp.

isCalibrated()

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

Definition at line 226 of file caster_calibration_controller.cpp.

starting()

void controller::CasterCalibrationController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 216 of file caster_calibration_controller.cpp.

update()

void controller::CasterCalibrationController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 236 of file caster_calibration_controller.cpp.

Member Data Documentation

actuator_

pr2_hardware_interface::Actuator* controller::CasterCalibrationController::actuator_

protected

Definition at line 75 of file caster_calibration_controller.h.

beginning_

ros::Time controller::CasterCalibrationController::beginning_

protected

Definition at line 72 of file caster_calibration_controller.h.

cc_

controller::CasterController controller::CasterCalibrationController::cc_

protected

Definition at line 83 of file caster_calibration_controller.h.

fake_as

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

protected

Definition at line 80 of file caster_calibration_controller.h.

fake_js

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

protected

Definition at line 81 of file caster_calibration_controller.h.

is_calibrated_srv_

ros::ServiceServer controller::CasterCalibrationController::is_calibrated_srv_

protected

Definition at line 86 of file caster_calibration_controller.h.

joint_

pr2_mechanism_model::JointState* controller::CasterCalibrationController::joint_

protected

Definition at line 76 of file caster_calibration_controller.h.

last_publish_time_

ros::Time controller::CasterCalibrationController::last_publish_time_

protected

Definition at line 85 of file caster_calibration_controller.h.

node_

ros::NodeHandle controller::CasterCalibrationController::node_

protected

Definition at line 62 of file caster_calibration_controller.h.

original_position_

double controller::CasterCalibrationController::original_position_

protected

Definition at line 70 of file caster_calibration_controller.h.

original_switch_state_

bool controller::CasterCalibrationController::original_switch_state_

protected

Definition at line 69 of file caster_calibration_controller.h.

pub_calibrated_

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

protected

Definition at line 87 of file caster_calibration_controller.h.

robot_

pr2_mechanism_model::RobotState* controller::CasterCalibrationController::robot_

protected

Definition at line 63 of file caster_calibration_controller.h.

search_velocity_

double controller::CasterCalibrationController::search_velocity_

protected

Definition at line 68 of file caster_calibration_controller.h.

state_

int controller::CasterCalibrationController::state_

protected

Definition at line 66 of file caster_calibration_controller.h.

transmission_

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

protected

Definition at line 77 of file caster_calibration_controller.h.

unstick_iter_

int controller::CasterCalibrationController::unstick_iter_

protected

Definition at line 73 of file caster_calibration_controller.h.

wheel_l_joint_

pr2_mechanism_model::JointState * controller::CasterCalibrationController::wheel_l_joint_

protected

Definition at line 76 of file caster_calibration_controller.h.

wheel_r_joint_

pr2_mechanism_model::JointState * controller::CasterCalibrationController::wheel_r_joint_

protected

Definition at line 76 of file caster_calibration_controller.h.

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

• caster_calibration_controller.h
• caster_calibration_controller.cpp