#include <joint_group_velocity_controller.h>

Inheritance diagram for controller::JointGroupVelocityController:

Public Member Functions
void	getCommand (std::vector< double > &cmd)
	Get latest position command to the joint: revolute (angle) and prismatic (position). More...

void	getGains (control_toolbox::Pid &pid, double &p, double &i, double &d, double &i_max, double &i_min)

std::vector< std::string >	getJointName ()

bool	init (pr2_mechanism_model::RobotState *robot, const std::vector< std::string > &joint_names, const control_toolbox::Pid &pid)

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

	JointGroupVelocityController ()

void	setCommand (std::vector< double > cmd)
	Give set position of the joint for next update: revolute (angle) and prismatic (position) More...

virtual void	starting ()
	Issues commands to the joint. Should be called at regular intervals. More...

virtual void	update ()

	~JointGroupVelocityController ()

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
unsigned int	n_joints_

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	setCommandCB (const std_msgs::Float64MultiArrayConstPtr &msg)

Private Attributes
realtime_tools::RealtimeBuffer< std::vector< double > >	commands_buffer_

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerStateArray > >	controller_state_publisher_

std::vector< pr2_mechanism_model::JointState * >	joints_

ros::Time	last_time_

int	loop_count_

ros::NodeHandle	node_

std::vector< control_toolbox::Pid >	pid_controllers_

pr2_mechanism_model::RobotState *	robot_

ros::Subscriber	sub_command_

Friends
class	JointGroupVelocityControllerNode

Detailed Description

Definition at line 82 of file joint_group_velocity_controller.h.

Constructor & Destructor Documentation

◆ JointGroupVelocityController()

controller::JointGroupVelocityController::JointGroupVelocityController ( )

Definition at line 44 of file joint_group_velocity_controller.cpp.

◆ ~JointGroupVelocityController()

controller::JointGroupVelocityController::~JointGroupVelocityController ( )

Definition at line 49 of file joint_group_velocity_controller.cpp.

Member Function Documentation

◆ getCommand()

void controller::JointGroupVelocityController::getCommand ( std::vector< double > & cmd )

Get latest position command to the joint: revolute (angle) and prismatic (position).

Definition at line 142 of file joint_group_velocity_controller.cpp.

◆ getGains()

void controller::JointGroupVelocityController::getGains	(	control_toolbox::Pid &	pid,
		double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

Definition at line 120 of file joint_group_velocity_controller.cpp.

◆ getJointName()

std::vector< std::string > controller::JointGroupVelocityController::getJointName ( )

Definition at line 125 of file joint_group_velocity_controller.cpp.

◆ init() [1/2]

bool controller::JointGroupVelocityController::init	(	pr2_mechanism_model::RobotState *	robot,
		const std::vector< std::string > &	joint_names,
		const control_toolbox::Pid &	pid
	)

◆ init() [2/2]

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 54 of file joint_group_velocity_controller.cpp.

◆ setCommand()

void controller::JointGroupVelocityController::setCommand ( std::vector< double > cmd )

Give set position of the joint for next update: revolute (angle) and prismatic (position)

Parameters

double pos Velocity command to issue

Definition at line 136 of file joint_group_velocity_controller.cpp.

◆ setCommandCB()

void controller::JointGroupVelocityController::setCommandCB ( const std_msgs::Float64MultiArrayConstPtr & msg )

private

Definition at line 202 of file joint_group_velocity_controller.cpp.

◆ starting()

void controller::JointGroupVelocityController::starting ( )

virtual

Issues commands to the joint. Should be called at regular intervals.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 147 of file joint_group_velocity_controller.cpp.

◆ update()

void controller::JointGroupVelocityController::update ( void )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 153 of file joint_group_velocity_controller.cpp.

Friends And Related Function Documentation

◆ JointGroupVelocityControllerNode

friend class JointGroupVelocityControllerNode

friend

Definition at line 127 of file joint_group_velocity_controller.h.

Member Data Documentation

◆ commands_buffer_

realtime_tools::RealtimeBuffer<std::vector<double> > controller::JointGroupVelocityController::commands_buffer_

private

Last commanded position.

Definition at line 125 of file joint_group_velocity_controller.h.

◆ controller_state_publisher_

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerStateArray> > controller::JointGroupVelocityController::controller_state_publisher_

private

Definition at line 131 of file joint_group_velocity_controller.h.

◆ joints_

std::vector<pr2_mechanism_model::JointState*> controller::JointGroupVelocityController::joints_

private

Joint we're controlling.

Definition at line 121 of file joint_group_velocity_controller.h.

◆ last_time_

ros::Time controller::JointGroupVelocityController::last_time_

private

Last time stamp of update.

Definition at line 122 of file joint_group_velocity_controller.h.

◆ loop_count_

int controller::JointGroupVelocityController::loop_count_

private

Definition at line 123 of file joint_group_velocity_controller.h.

◆ n_joints_

unsigned int controller::JointGroupVelocityController::n_joints_

Definition at line 115 of file joint_group_velocity_controller.h.

◆ node_

ros::NodeHandle controller::JointGroupVelocityController::node_

private

Definition at line 118 of file joint_group_velocity_controller.h.

◆ pid_controllers_

std::vector<control_toolbox::Pid> controller::JointGroupVelocityController::pid_controllers_

private

Internal PID controller.

Definition at line 120 of file joint_group_velocity_controller.h.

◆ robot_

pr2_mechanism_model::RobotState* controller::JointGroupVelocityController::robot_

private

Pointer to robot structure.

Definition at line 119 of file joint_group_velocity_controller.h.

◆ sub_command_

ros::Subscriber controller::JointGroupVelocityController::sub_command_

private

Definition at line 133 of file joint_group_velocity_controller.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ JointGroupVelocityController()

◆ ~JointGroupVelocityController()

Member Function Documentation

◆ getCommand()

◆ getGains()

◆ getJointName()

◆ init() [1/2]

◆ init() [2/2]

◆ setCommand()

◆ setCommandCB()

◆ starting()

◆ update()

Friends And Related Function Documentation

◆ JointGroupVelocityControllerNode

Member Data Documentation

◆ commands_buffer_

◆ controller_state_publisher_

◆ joints_

◆ last_time_

◆ loop_count_

◆ n_joints_

◆ node_

◆ pid_controllers_

◆ robot_

◆ sub_command_