#include <calibration_base.h>

Inheritance diagram for rm_calibration_controllers::CalibrationBase< T >:

Public Member Functions
	CalibrationBase ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get necessary params from param server. Init joint_calibration_controller. More...

void	starting (const ros::Time &time) override
	Switch all of the actuators state to INITIALIZED. More...

void	stopping (const ros::Time &time) override

Public Member Functions inherited from controller_interface::MultiInterfaceController< T... >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

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)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

virtual void	update (const ros::Time &time, const ros::Duration &period)=0

virtual void	update (const ros::Time &time, const ros::Duration &period)=0

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

Protected Types
enum	State { INITIALIZED, CALIBRATED }

Protected Member Functions
bool	isCalibrated (control_msgs::QueryCalibrationState::Request &req, control_msgs::QueryCalibrationState::Response &resp)
	Provide a service to know the state of target actuators. More...

Protected Member Functions inherited from controller_interface::MultiInterfaceController< T... >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Protected Attributes
rm_control::ActuatorExtraHandle	actuator_

bool	calibration_success_ = false

ros::ServiceServer	is_calibrated_srv_

effort_controllers::JointPositionController	position_ctrl_

int	state_ {}

effort_controllers::JointVelocityController	velocity_ctrl_

double	velocity_search_ {}

Protected Attributes inherited from controller_interface::MultiInterfaceController< T... >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

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

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< T... >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Detailed Description

template<typename... T>
class rm_calibration_controllers::CalibrationBase< T >

Definition at line 20 of file calibration_base.h.

Member Enumeration Documentation

◆ State

template<typename... T>

enum rm_calibration_controllers::CalibrationBase::State

protected

Enumerator
INITIALIZED
CALIBRATED

Definition at line 58 of file calibration_base.h.

Constructor & Destructor Documentation

◆ CalibrationBase()

template<typename... T>

rm_calibration_controllers::CalibrationBase< T >::CalibrationBase ( )

default

Member Function Documentation

◆ init()

template<typename... T>

bool rm_calibration_controllers::CalibrationBase< T >::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

overridevirtual

Get necessary params from param server. Init joint_calibration_controller.

Get params from param server and check whether these params are set.Init JointVelocityController.Check whether threshold is set correctly.

Parameters

robot_hw	The robot hardware abstraction.
root_nh	A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
controller_nh	A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.

Returns: True if init successful, false when failed.

Reimplemented from controller_interface::MultiInterfaceController< T... >.

Definition at line 14 of file calibration_base.cpp.

◆ isCalibrated()

template<typename... T>

bool rm_calibration_controllers::CalibrationBase< T >::isCalibrated	(	control_msgs::QueryCalibrationState::Request &	req,
		control_msgs::QueryCalibrationState::Response &	resp
	)

protected

Provide a service to know the state of target actuators.

When requesting to this server, it will return respond about whether target actuators has been calibrated.

Parameters

req	The request of knowing the state of target actuators.
resp	The respond included the state of target actuators.

Returns: True if get respond successfully, false when failed.

Definition at line 53 of file calibration_base.cpp.

◆ starting()

template<typename... T>

void rm_calibration_controllers::CalibrationBase< T >::starting ( const ros::Time & time )

overridevirtual

Switch all of the actuators state to INITIALIZED.

Switch all of the actuator state to INITIALIZED in order to restart the calibration.

Parameters

time	The current time.

Reimplemented from controller_interface::ControllerBase.

Definition at line 37 of file calibration_base.cpp.

◆ stopping()

template<typename... T>

void rm_calibration_controllers::CalibrationBase< T >::stopping ( const ros::Time & time )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 47 of file calibration_base.cpp.

Member Data Documentation

◆ actuator_

template<typename... T>

rm_control::ActuatorExtraHandle rm_calibration_controllers::CalibrationBase< T >::actuator_

protected

Definition at line 66 of file calibration_base.h.

◆ calibration_success_

template<typename... T>

bool rm_calibration_controllers::CalibrationBase< T >::calibration_success_ = false

protected

Definition at line 65 of file calibration_base.h.

◆ is_calibrated_srv_

template<typename... T>

ros::ServiceServer rm_calibration_controllers::CalibrationBase< T >::is_calibrated_srv_

protected

Definition at line 57 of file calibration_base.h.

◆ position_ctrl_

template<typename... T>

effort_controllers::JointPositionController rm_calibration_controllers::CalibrationBase< T >::position_ctrl_

protected

Definition at line 68 of file calibration_base.h.

◆ state_

template<typename... T>

int rm_calibration_controllers::CalibrationBase< T >::state_ {}

protected

Definition at line 63 of file calibration_base.h.

◆ velocity_ctrl_

template<typename... T>

effort_controllers::JointVelocityController rm_calibration_controllers::CalibrationBase< T >::velocity_ctrl_

protected

Definition at line 67 of file calibration_base.h.

◆ velocity_search_

template<typename... T>

double rm_calibration_controllers::CalibrationBase< T >::velocity_search_ {}

protected

Definition at line 64 of file calibration_base.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<typename... T> class rm_calibration_controllers::CalibrationBase< T >

Member Enumeration Documentation

◆ State

Constructor & Destructor Documentation

◆ CalibrationBase()

Member Function Documentation

◆ init()

◆ isCalibrated()

◆ starting()

◆ stopping()

Member Data Documentation

◆ actuator_

◆ calibration_success_

◆ is_calibrated_srv_

◆ position_ctrl_

◆ state_

◆ velocity_ctrl_

◆ velocity_search_

template<typename... T>
class rm_calibration_controllers::CalibrationBase< T >