#include <gpio_calibration_controller.h>

Inheritance diagram for rm_calibration_controllers::GpioCalibrationController:

[legend]

Public Member Functions
	GpioCalibrationController ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override

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

Public Member Functions inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, rm_control::GpioStateInterface, hardware_interface::EffortJointInterface >
	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)

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

Private Types
enum	State { FAST_FORWARD = 3, RETREAT, SLOW_FORWARD }

Private Attributes
double	backward_angle_ {}

rm_control::GpioStateHandle	gpio_state_handle_

bool	initial_gpio_state_

double	position_threshold_ {}

double	slow_forward_velocity_ {}

double	start_retreat_position_ {}

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_

Protected Types inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, rm_control::GpioStateInterface, hardware_interface::EffortJointInterface >
enum	State

Protected Member Functions inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, rm_control::GpioStateInterface, hardware_interface::EffortJointInterface >
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

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)

Protected Attributes inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, rm_control::GpioStateInterface, hardware_interface::EffortJointInterface >
rm_control::ActuatorExtraHandle	actuator_

bool	calibration_success_

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_

Detailed Description

Definition at line 12 of file gpio_calibration_controller.h.

Member Enumeration Documentation

◆ State

enum rm_calibration_controllers::GpioCalibrationController::State

private

Enumerator
FAST_FORWARD
RETREAT
SLOW_FORWARD

Definition at line 22 of file gpio_calibration_controller.h.

Constructor & Destructor Documentation

◆ GpioCalibrationController()

rm_calibration_controllers::GpioCalibrationController::GpioCalibrationController ( )

default

Member Function Documentation

◆ init()

bool rm_calibration_controllers::GpioCalibrationController::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)