#include <sr_controller.hpp>

Inheritance diagram for controller::SrController:

[legend]

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)

std::string	getJointName ()

virtual bool	init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)=0

virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

	SrController ()

virtual void	starting (const ros::Time &time)

virtual void	update (const ros::Time &time, const ros::Duration &period)=0
	Issues commands to the joint. Should be called at regular intervals. More...

virtual	~SrController ()

Public Member Functions inherited from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >
virtual bool	init (T *, ros::NodeHandle &)

virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Public Attributes
double	command_

bool	has_j2

ros_ethercat_model::JointState *	joint_state_

ros_ethercat_model::JointState *	joint_state_2

Public Attributes inherited from controller_interface::ControllerBase
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Protected Member Functions
void	after_init ()
	call this function at the end of the init function in the inheriting classes. More...

double	clamp_command (double cmd, double min_cmd, double max_cmd)

virtual double	clamp_command (double cmd)

void	get_joints_states_1_2 ()

void	get_min_max (urdf::Model model, std::string joint_name)

bool	is_joint_0 ()

void	maxForceFactorCB (const std_msgs::Float64ConstPtr &msg)

virtual void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	set the command from a topic More...

Protected Member Functions inherited from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Protected Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > >	controller_state_publisher_

double	eff_max_

double	eff_min_
	Min and max range of the effort, used to clamp the command. More...

boost::scoped_ptr< sr_friction_compensation::SrFrictionCompensator >	friction_compensator

int	friction_deadband
	the deadband for the friction compensation algorithm More...

sr_deadband::HysteresisDeadband< double >	hysteresis_deadband
	We're using an hysteresis deadband. More...

bool	initialized_

std::string	joint_name_

int	loop_count_

double	max_

double	max_force_demand
	clamps the force demand to this value More...

double	max_force_factor_

double	min_
	Min and max range of the joint, used to clamp the command. More...

ros::NodeHandle	n_tilde_

ros::NodeHandle	node_

ros_ethercat_model::RobotState *	robot_

ros::ServiceServer	serve_reset_gains_

ros::ServiceServer	serve_set_gains_

ros::Subscriber	sub_command_

ros::Subscriber	sub_max_force_factor_

double	vel_max_

double	vel_min_
	Min and max range of the velocity, used to clamp the command. More...

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Detailed Description

Definition at line 54 of file sr_controller.hpp.

Constructor & Destructor Documentation

◆ SrController()

controller::SrController::SrController ( )

Definition at line 40 of file sr_controller.cpp.

◆ ~SrController()

controller::SrController::~SrController ( )

virtual

Definition at line 61 of file sr_controller.cpp.

Member Function Documentation

◆ after_init()

void controller::SrController::after_init ( )

protected

call this function at the end of the init function in the inheriting classes.

Definition at line 89 of file sr_controller.cpp.

◆ clamp_command() [1/2]

double controller::SrController::clamp_command	(	double	cmd,
		double	min_cmd,
		double	max_cmd
	)

protected

Clamps the command to the correct range (between min_cmd and max_cmd).

Parameters

cmd	the command we want to clamp
min_cmd	the min to clamp to
max_cmd	the max to clamp to

Returns: the clamped command

Definition at line 133 of file sr_controller.cpp.

◆ clamp_command() [2/2]

double controller::SrController::clamp_command ( double cmd )

protectedvirtual

Clamps the command to the correct range (between angular min and max).

Parameters

cmd	the command we want to clamp

Returns: the clamped command

Reimplemented in controller::SrhJointVelocityController, and controller::SrhEffortJointController.

Definition at line 146 of file sr_controller.cpp.

◆ get_joints_states_1_2()

void controller::SrController::get_joints_states_1_2 ( )

protected

Definition at line 77 of file sr_controller.cpp.

◆ get_min_max()

void controller::SrController::get_min_max	(	urdf::Model	model,
		std::string	joint_name
	)

protected

Reads the min and max from the robot model for the current joint.

Parameters

model	the urdf description of the robot
joint_name	the name of the joint

Definition at line 101 of file sr_controller.cpp.

◆ getGains()

virtual void controller::SrController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

inlinevirtual

Reimplemented in controller::SrhJointMuscleValveController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVariablePidPositionController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 78 of file sr_controller.hpp.

◆ getJointName()

std::string controller::SrController::getJointName ( )

Definition at line 96 of file sr_controller.cpp.

◆ init()

virtual bool controller::SrController::init	(	ros_ethercat_model::RobotStateInterface *	robot,
		ros::NodeHandle &	n
	)

pure virtual

Implemented in controller::SrhExampleController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVariablePidPositionController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

◆ is_joint_0()

bool controller::SrController::is_joint_0 ( )

protected

Definition at line 66 of file sr_controller.cpp.

◆ maxForceFactorCB()

void controller::SrController::maxForceFactorCB ( const std_msgs::Float64ConstPtr & msg )

protected

Callback function for the max force factor topic

Parameters

msg	the message receiver over the topic

Definition at line 151 of file sr_controller.cpp.

◆ resetGains()

virtual bool controller::SrController::resetGains	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

inlinevirtual

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointMuscleValveController, controller::SrhJointVariablePidPositionController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 73 of file sr_controller.hpp.

◆ setCommandCB()

virtual void controller::SrController::setCommandCB ( const std_msgs::Float64ConstPtr & msg )

inlineprotectedvirtual

set the command from a topic

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointVariablePidPositionController, controller::SrhMuscleJointPositionController, controller::SrhJointVelocityController, controller::SrhJointPositionController, and controller::SrhEffortJointController.

Definition at line 154 of file sr_controller.hpp.

◆ starting()

virtual void controller::SrController::starting ( const ros::Time & time )

inlinevirtual

Reimplemented from controller_interface::ControllerBase.

Reimplemented in controller::SrhExampleController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVariablePidPositionController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 64 of file sr_controller.hpp.

◆ update()

virtual void controller::SrController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

pure virtual

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

Implements controller_interface::ControllerBase.

Implemented in controller::SrhExampleController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhMixedPositionVelocityJointController, controller::SrhJointVariablePidPositionController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Member Data Documentation

◆ command_

double controller::SrController::command_

Last commanded position.

Definition at line 90 of file sr_controller.hpp.

◆ controller_state_publisher_

boost::scoped_ptr<realtime_tools::RealtimePublisher <control_msgs::JointControllerState> > controller::SrController::controller_state_publisher_

protected

Definition at line 149 of file sr_controller.hpp.

◆ eff_max_

double controller::SrController::eff_max_

protected

Definition at line 138 of file sr_controller.hpp.

◆ eff_min_

double controller::SrController::eff_min_

protected

Min and max range of the effort, used to clamp the command.

Definition at line 138 of file sr_controller.hpp.

◆ friction_compensator

boost::scoped_ptr<sr_friction_compensation::SrFrictionCompensator> controller::SrController::friction_compensator

protected

Definition at line 151 of file sr_controller.hpp.

◆ friction_deadband

int controller::SrController::friction_deadband

protected

the deadband for the friction compensation algorithm

Definition at line 165 of file sr_controller.hpp.

◆ has_j2

bool controller::SrController::has_j2

true if this is a joint 0.

Definition at line 88 of file sr_controller.hpp.

◆ hysteresis_deadband

sr_deadband::HysteresisDeadband<double> controller::SrController::hysteresis_deadband

protected

We're using an hysteresis deadband.

Definition at line 168 of file sr_controller.hpp.

◆ initialized_

bool controller::SrController::initialized_

protected

Definition at line 141 of file sr_controller.hpp.

◆ joint_name_

std::string controller::SrController::joint_name_

protected

Definition at line 146 of file sr_controller.hpp.

◆ joint_state_

ros_ethercat_model::JointState* controller::SrController::joint_state_

Joint we're controlling.

Definition at line 84 of file sr_controller.hpp.

◆ joint_state_2

ros_ethercat_model::JointState* controller::SrController::joint_state_2

2ndJoint we're controlling if joint 0.

Definition at line 86 of file sr_controller.hpp.

◆ loop_count_

int controller::SrController::loop_count_

protected

Definition at line 140 of file sr_controller.hpp.

◆ max_

double controller::SrController::max_

protected

Definition at line 134 of file sr_controller.hpp.

◆ max_force_demand

double controller::SrController::max_force_demand

protected

clamps the force demand to this value

Definition at line 163 of file sr_controller.hpp.

◆ max_force_factor_

double controller::SrController::max_force_factor_

protected

Definition at line 174 of file sr_controller.hpp.

◆ min_

double controller::SrController::min_

protected

Min and max range of the joint, used to clamp the command.

Definition at line 134 of file sr_controller.hpp.

◆ n_tilde_

ros::NodeHandle controller::SrController::n_tilde_

protected

Definition at line 145 of file sr_controller.hpp.

◆ node_

ros::NodeHandle controller::SrController::node_

protected

Definition at line 145 of file sr_controller.hpp.

◆ robot_

ros_ethercat_model::RobotState* controller::SrController::robot_

protected

Pointer to robot structure.

Definition at line 142 of file sr_controller.hpp.

◆ serve_reset_gains_

ros::ServiceServer controller::SrController::serve_reset_gains_

protected

Definition at line 160 of file sr_controller.hpp.

◆ serve_set_gains_

ros::ServiceServer controller::SrController::serve_set_gains_

protected

Definition at line 159 of file sr_controller.hpp.

◆ sub_command_

ros::Subscriber controller::SrController::sub_command_

protected

Definition at line 158 of file sr_controller.hpp.

◆ sub_max_force_factor_

ros::Subscriber controller::SrController::sub_max_force_factor_

protected

Definition at line 175 of file sr_controller.hpp.

◆ vel_max_

double controller::SrController::vel_max_

protected

Definition at line 136 of file sr_controller.hpp.

◆ vel_min_

double controller::SrController::vel_min_

protected

Min and max range of the velocity, used to clamp the command.

Definition at line 136 of file sr_controller.hpp.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SrController()

◆ ~SrController()

Member Function Documentation

◆ after_init()

◆ clamp_command() [1/2]

◆ clamp_command() [2/2]

◆ get_joints_states_1_2()

◆ get_min_max()

◆ getGains()

◆ getJointName()

◆ init()

◆ is_joint_0()

◆ maxForceFactorCB()

◆ resetGains()

◆ setCommandCB()

◆ starting()

◆ update()

Member Data Documentation

◆ command_

◆ controller_state_publisher_

◆ eff_max_

◆ eff_min_

◆ friction_compensator

◆ friction_deadband

◆ has_j2

◆ hysteresis_deadband

◆ initialized_

◆ joint_name_

◆ joint_state_

◆ joint_state_2

◆ loop_count_

◆ max_

◆ max_force_demand

◆ max_force_factor_

◆ min_

◆ n_tilde_

◆ node_

◆ robot_

◆ serve_reset_gains_

◆ serve_set_gains_

◆ sub_command_

◆ sub_max_force_factor_

◆ vel_max_

◆ vel_min_