robot_controllers::CartesianWrenchController Class Reference

#include <cartesian_wrench.h>

Inheritance diagram for robot_controllers::CartesianWrenchController:

Public Member Functions
	CartesianWrenchController ()
void	command (const geometry_msgs::Wrench::ConstPtr &goal)
	Controller command. More...
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims. More...
virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands. More...
virtual std::string	getType ()
	Get the type of this controller. More...
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...
virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition. More...
virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...
virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...
virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller. More...
virtual	~CartesianWrenchController ()
Public Member Functions inherited from robot_controllers::Controller
	Controller ()
std::string	getName ()
virtual	~Controller ()
Public Member Functions inherited from robot_controllers::Handle
	Handle ()
virtual	~Handle ()

Private Member Functions
void	updateJoints ()

Private Attributes
ros::Subscriber	command_sub_
KDL::Wrench	desired_wrench_
bool	enabled_
ros::Publisher	feedback_pub_
bool	initialized_
boost::shared_ptr< KDL::ChainJntToJacSolver >	jac_solver_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_eff_
KDL::JntArray	jnt_pos_
std::vector< JointHandlePtr >	joints_
KDL::Chain	kdl_chain_
ros::Time	last_command_
ControllerManager *	manager_
std::string	root_link_
tf::TransformListener	tf_

Detailed Description

Definition at line 65 of file cartesian_wrench.h.

Constructor & Destructor Documentation

CartesianWrenchController()

robot_controllers::CartesianWrenchController::CartesianWrenchController

(

)

Definition at line 53 of file cartesian_wrench.cpp.

~CartesianWrenchController()

virtual robot_controllers::CartesianWrenchController::~CartesianWrenchController ( )

inlinevirtual

Definition at line 69 of file cartesian_wrench.h.

Member Function Documentation

command()

void robot_controllers::CartesianWrenchController::command

(

const geometry_msgs::Wrench::ConstPtr &

goal

)

Controller command.

Definition at line 186 of file cartesian_wrench.cpp.

getClaimedNames()

std::vector< std::string > robot_controllers::CartesianWrenchController::getClaimedNames ( )

virtual

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 219 of file cartesian_wrench.cpp.

getCommandedNames()

std::vector< std::string > robot_controllers::CartesianWrenchController::getCommandedNames ( )

virtual

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 207 of file cartesian_wrench.cpp.

getType()

virtual std::string robot_controllers::CartesianWrenchController::getType ( )

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 112 of file cartesian_wrench.h.

init()

int robot_controllers::CartesianWrenchController::init ( ros::NodeHandle &  nh, ControllerManager *  manager  )

virtual

Initialize the controller and any required data structures.

Parameters

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns

0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 58 of file cartesian_wrench.cpp.

reset()

bool robot_controllers::CartesianWrenchController::reset ( )

virtual

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.

Returns

True if successfully reset, false otherwise.

Implements robot_controllers::Controller.

Definition at line 142 of file cartesian_wrench.cpp.

start()

bool robot_controllers::CartesianWrenchController::start ( )

virtual

Attempt to start the controller. This should be called only by the ControllerManager instance.

Returns

True if successfully started, false otherwise.

Implements robot_controllers::Controller.

Definition at line 118 of file cartesian_wrench.cpp.

stop()

bool robot_controllers::CartesianWrenchController::stop ( bool  force )

virtual

Attempt to stop the controller. This should be called only by the ControllerManager instance.

Parameters

force

Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.

Returns

True if successfully stopped, false otherwise.

Implements robot_controllers::Controller.

Definition at line 137 of file cartesian_wrench.cpp.

update()

void robot_controllers::CartesianWrenchController::update ( const ros::Time &  now, const ros::Duration &  dt  )

virtual

This is the update loop for the controller.

Parameters

time	The system time.
dt	The timestep since last call to update.

Implements robot_controllers::Controller.

Definition at line 148 of file cartesian_wrench.cpp.

updateJoints()

void robot_controllers::CartesianWrenchController::updateJoints ( )

private

Definition at line 180 of file cartesian_wrench.cpp.

Member Data Documentation

command_sub_

ros::Subscriber robot_controllers::CartesianWrenchController::command_sub_

private

Definition at line 145 of file cartesian_wrench.h.

desired_wrench_

KDL::Wrench robot_controllers::CartesianWrenchController::desired_wrench_

private

Definition at line 136 of file cartesian_wrench.h.

enabled_

bool robot_controllers::CartesianWrenchController::enabled_

private

Definition at line 132 of file cartesian_wrench.h.

feedback_pub_

ros::Publisher robot_controllers::CartesianWrenchController::feedback_pub_

private

Definition at line 144 of file cartesian_wrench.h.

initialized_

bool robot_controllers::CartesianWrenchController::initialized_

private

Definition at line 129 of file cartesian_wrench.h.

jac_solver_

boost::shared_ptr<KDL::ChainJntToJacSolver> robot_controllers::CartesianWrenchController::jac_solver_

private

Definition at line 139 of file cartesian_wrench.h.

jacobian_

KDL::Jacobian robot_controllers::CartesianWrenchController::jacobian_

private

Definition at line 142 of file cartesian_wrench.h.

jnt_eff_

KDL::JntArray robot_controllers::CartesianWrenchController::jnt_eff_

private

Definition at line 141 of file cartesian_wrench.h.

jnt_pos_

KDL::JntArray robot_controllers::CartesianWrenchController::jnt_pos_

private

Definition at line 140 of file cartesian_wrench.h.

joints_

std::vector<JointHandlePtr> robot_controllers::CartesianWrenchController::joints_

private

Definition at line 148 of file cartesian_wrench.h.

kdl_chain_

KDL::Chain robot_controllers::CartesianWrenchController::kdl_chain_

private

Definition at line 138 of file cartesian_wrench.h.

last_command_

ros::Time robot_controllers::CartesianWrenchController::last_command_

private

Definition at line 134 of file cartesian_wrench.h.

manager_

ControllerManager* robot_controllers::CartesianWrenchController::manager_

private

Definition at line 130 of file cartesian_wrench.h.

root_link_

std::string robot_controllers::CartesianWrenchController::root_link_

private

Definition at line 133 of file cartesian_wrench.h.

tf_

tf::TransformListener robot_controllers::CartesianWrenchController::tf_

private

Definition at line 147 of file cartesian_wrench.h.

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

• cartesian_wrench.h
• cartesian_wrench.cpp