#include <gripper_controller.h>

Public Member Functions
bool	forceRampTo (double force, double duration)

bool	forceServo2 (double desired_Force)

bool	grabObject (double close_speed, int contactsDesired)

	gripperController (pr2_mechanism_model::JointState joint_state_, pressureObserver pressure_observer_, accelerationObserver *acceleration_observer_)

bool	initializeGripper ()

bool	place (int placeConditions, double acc_trigger, double slip_trigger)

bool	positionServo (double desiredPos, double desiredVel)

bool	slipServo2 ()

void	updateData ()

bool	velocityServo (double desiredVel)

	~gripperController ()

Public Attributes
double	accThresh

double	coulomb

bool	deformation_limit_flag

bool	dropped_flag

double	dt

double	fingertip_force_limit

bool	firstRamp

bool	force_limit_flag

double	force_servo_force_tolerance

double	forceContact

double	forceContact_l

double	forceContact_r

double	gripper_state_now_measured_effort

double	gripper_state_now_position

double	gripper_state_now_velocity

double	gripper_state_prev_measured_effort

double	gripper_state_prev_position

double	gripper_state_prev_velocity

pr2_mechanism_model::JointState *	jointState

double	kD

double	kP

double	lpVelocity

double	max_effort

accelerationObserver *	myAccelerationObserver

pressureObserver *	myPressureObserver

double	objectForce

double	positionClosed

double	positionContact

double	positionCurrent

double	positionDropped

double	positionMarker

double	positionMarker_limit

double	positionOpen

double	ramp_start_force

double	ramp_start_time

double	servoForce

bool	slip_flag

double	vel_integral

double	vel_integral_vcontrol

digitalFilter *	velocityLPFilt

Private Attributes
double	initialPosition

double	time_cur

double	time_prev

Detailed Description

Definition at line 54 of file gripper_controller.h.

Constructor & Destructor Documentation

◆ gripperController()

gripperController::gripperController	(	pr2_mechanism_model::JointState *	joint_state_,
		pressureObserver *	pressure_observer_,
		accelerationObserver *	acceleration_observer_
	)

Definition at line 380 of file gripper_controller.h.

◆ ~gripperController()

gripperController::~gripperController ( )

Definition at line 423 of file gripper_controller.h.

Member Function Documentation

◆ forceRampTo()

bool gripperController::forceRampTo	(	double	force,
		double	duration
	)

Definition at line 302 of file gripper_controller.h.

◆ forceServo2()

bool gripperController::forceServo2 ( double desired_Force )

Definition at line 247 of file gripper_controller.h.

◆ grabObject()

bool gripperController::grabObject	(	double	close_speed,
		int	contactsDesired
	)

Definition at line 154 of file gripper_controller.h.

◆ initializeGripper()

bool gripperController::initializeGripper ( )

Definition at line 374 of file gripper_controller.h.

◆ place()

bool gripperController::place	(	int	placeConditions,
		double	acc_trigger,
		double	slip_trigger
	)

Definition at line 179 of file gripper_controller.h.

◆ positionServo()

bool gripperController::positionServo	(	double	desiredPos,
		double	desiredVel
	)

Definition at line 338 of file gripper_controller.h.

◆ slipServo2()

bool gripperController::slipServo2 ( )

Definition at line 203 of file gripper_controller.h.

◆ updateData()

void gripperController::updateData ( )

Definition at line 125 of file gripper_controller.h.

◆ velocityServo()

bool gripperController::velocityServo ( double desiredVel )

Definition at line 326 of file gripper_controller.h.

Member Data Documentation

◆ accThresh

double gripperController::accThresh

Definition at line 123 of file gripper_controller.h.

◆ coulomb

double gripperController::coulomb

Definition at line 143 of file gripper_controller.h.

◆ deformation_limit_flag

bool gripperController::deformation_limit_flag

Definition at line 114 of file gripper_controller.h.

◆ dropped_flag

bool gripperController::dropped_flag

Definition at line 116 of file gripper_controller.h.

◆ dt

double gripperController::dt

Definition at line 142 of file gripper_controller.h.

◆ fingertip_force_limit

double gripperController::fingertip_force_limit

Definition at line 108 of file gripper_controller.h.

◆ firstRamp

bool gripperController::firstRamp

Definition at line 149 of file gripper_controller.h.

◆ force_limit_flag

bool gripperController::force_limit_flag

Definition at line 115 of file gripper_controller.h.

◆ force_servo_force_tolerance

double gripperController::force_servo_force_tolerance

Definition at line 134 of file gripper_controller.h.

◆ forceContact

double gripperController::forceContact

Definition at line 132 of file gripper_controller.h.

◆ forceContact_l

double gripperController::forceContact_l

Definition at line 133 of file gripper_controller.h.

◆ forceContact_r

double gripperController::forceContact_r

Definition at line 133 of file gripper_controller.h.

◆ gripper_state_now_measured_effort

double gripperController::gripper_state_now_measured_effort

Definition at line 137 of file gripper_controller.h.

◆ gripper_state_now_position

double gripperController::gripper_state_now_position

Definition at line 137 of file gripper_controller.h.

◆ gripper_state_now_velocity

double gripperController::gripper_state_now_velocity

Definition at line 137 of file gripper_controller.h.

◆ gripper_state_prev_measured_effort

double gripperController::gripper_state_prev_measured_effort

Definition at line 138 of file gripper_controller.h.

◆ gripper_state_prev_position

double gripperController::gripper_state_prev_position

Definition at line 138 of file gripper_controller.h.

◆ gripper_state_prev_velocity

double gripperController::gripper_state_prev_velocity

Definition at line 138 of file gripper_controller.h.

◆ initialPosition

double gripperController::initialPosition

private

Definition at line 154 of file gripper_controller.h.

◆ jointState

pr2_mechanism_model::JointState* gripperController::jointState

Definition at line 145 of file gripper_controller.h.

◆ kD

double gripperController::kD

Definition at line 141 of file gripper_controller.h.

◆ kP

double gripperController::kP

Definition at line 140 of file gripper_controller.h.

◆ lpVelocity

double gripperController::lpVelocity

Definition at line 122 of file gripper_controller.h.

◆ max_effort

double gripperController::max_effort

Definition at line 107 of file gripper_controller.h.

◆ myAccelerationObserver

accelerationObserver* gripperController::myAccelerationObserver

Definition at line 147 of file gripper_controller.h.

◆ myPressureObserver

pressureObserver* gripperController::myPressureObserver

Definition at line 146 of file gripper_controller.h.

◆ objectForce

double gripperController::objectForce

Definition at line 130 of file gripper_controller.h.

◆ positionClosed

double gripperController::positionClosed

Definition at line 126 of file gripper_controller.h.

◆ positionContact

double gripperController::positionContact

Definition at line 131 of file gripper_controller.h.

◆ positionCurrent

double gripperController::positionCurrent

Definition at line 127 of file gripper_controller.h.

◆ positionDropped

double gripperController::positionDropped

Definition at line 128 of file gripper_controller.h.

◆ positionMarker

double gripperController::positionMarker

Definition at line 110 of file gripper_controller.h.

◆ positionMarker_limit

double gripperController::positionMarker_limit

Definition at line 109 of file gripper_controller.h.

◆ positionOpen

double gripperController::positionOpen

Definition at line 125 of file gripper_controller.h.

◆ ramp_start_force

double gripperController::ramp_start_force

Definition at line 151 of file gripper_controller.h.

◆ ramp_start_time

double gripperController::ramp_start_time

Definition at line 150 of file gripper_controller.h.

◆ servoForce

double gripperController::servoForce

Definition at line 129 of file gripper_controller.h.

◆ slip_flag

bool gripperController::slip_flag

Definition at line 113 of file gripper_controller.h.

◆ time_cur

double gripperController::time_cur

private

Definition at line 155 of file gripper_controller.h.

◆ time_prev

double gripperController::time_prev

private

Definition at line 155 of file gripper_controller.h.

◆ vel_integral

double gripperController::vel_integral

Definition at line 120 of file gripper_controller.h.

◆ vel_integral_vcontrol

double gripperController::vel_integral_vcontrol

Definition at line 121 of file gripper_controller.h.

◆ velocityLPFilt

digitalFilter* gripperController::velocityLPFilt

Definition at line 124 of file gripper_controller.h.

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

gripper_controller.h

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ gripperController()

◆ ~gripperController()

Member Function Documentation

◆ forceRampTo()

◆ forceServo2()

◆ grabObject()

◆ initializeGripper()

◆ place()

◆ positionServo()

◆ slipServo2()

◆ updateData()

◆ velocityServo()

Member Data Documentation

◆ accThresh

◆ coulomb

◆ deformation_limit_flag

◆ dropped_flag

◆ dt

◆ fingertip_force_limit

◆ firstRamp

◆ force_limit_flag

◆ force_servo_force_tolerance

◆ forceContact

◆ forceContact_l

◆ forceContact_r

◆ gripper_state_now_measured_effort

◆ gripper_state_now_position

◆ gripper_state_now_velocity

◆ gripper_state_prev_measured_effort

◆ gripper_state_prev_position

◆ gripper_state_prev_velocity

◆ initialPosition

◆ jointState

◆ kD

◆ kP

◆ lpVelocity

◆ max_effort

◆ myAccelerationObserver

◆ myPressureObserver

◆ objectForce

◆ positionClosed

◆ positionContact

◆ positionCurrent

◆ positionDropped

◆ positionMarker

◆ positionMarker_limit

◆ positionOpen

◆ ramp_start_force

◆ ramp_start_time

◆ servoForce

◆ slip_flag

◆ time_cur

◆ time_prev

◆ vel_integral

◆ vel_integral_vcontrol

◆ velocityLPFilt