#include <mechanical_calibration_controller.h>

Inheritance diagram for rm_calibration_controllers::MechanicalCalibrationController:

[legend]

Public Member Functions
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...

	MechanicalCalibrationController ()=default

void	update (const ros::Time &time, const ros::Duration &period) override
	Execute corresponding action according to current calibration controller state. More...

Public Member Functions inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, 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 { MOVING_POSITIVE = 3, MOVING_NEGATIVE }

Private Attributes
int	countdown_ {}

bool	is_center_ {}

bool	is_return_ {}

double	negative_position_ {}

double	position_threshold_ {}

double	positive_position_ {}

double	target_position_ {}

double	velocity_threshold_ {}

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, hardware_interface::EffortJointInterface >
enum	State

Protected Member Functions inherited from rm_calibration_controllers::CalibrationBase< rm_control::ActuatorExtraInterface, 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, 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 76 of file mechanical_calibration_controller.h.

Member Enumeration Documentation

◆ State

enum rm_calibration_controllers::MechanicalCalibrationController::State

private

Enumerator
MOVING_POSITIVE
MOVING_NEGATIVE

Definition at line 138 of file mechanical_calibration_controller.h.

Constructor & Destructor Documentation

◆ MechanicalCalibrationController()

rm_calibration_controllers::MechanicalCalibrationController::MechanicalCalibrationController ( )

default

Member Function Documentation

◆ init()

bool rm_calibration_controllers::MechanicalCalibrationController::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 75 of file mechanical_calibration_controller.cpp.

◆ update()

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

overridevirtual

Execute corresponding action according to current calibration controller state.

Execute corresponding action according to current joint state. If INITIALIZED, target joint will be set a vel_search_ and countdown_ to move, and switch state to MOVING. If MOVING, target joint will move until current velocity lower than threshold last for a while, and switch state to CALIBRATED. If CALIBRATED, target joint velocity will be set to zero and wait for next command.

Parameters