controller::JointGroupPositionController Class Reference

Controls the position of a group of joints using a pid loop. More...

#include <joint_group_position_controller.h>

Inheritance diagram for controller::JointGroupPositionController:

List of all members.

Public Types
typedef std::vector< double >	JointErrorList
typedef std::vector< double >	JointPosList
typedef std::vector< int >	JointStateToCmd
typedef std::vector < control_toolbox::Pid >	PidList
Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	JointGroupPositionController ()
virtual void	starting ()
virtual void	update ()
	~JointGroupPositionController ()
Private Member Functions
void	commandCB (const sensor_msgs::JointState::ConstPtr &command)
Private Attributes
JointErrorList	errors_
std::vector < pr2_mechanism_model::JointState * >	joints_
ros::Time	last_time_
JointStateToCmd	lookup_
ros::NodeHandle	node_
PidList	pids_
JointPosList	ref_pos_
pr2_mechanism_model::RobotState *	robot_
ros::Subscriber	sub_command_

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Detailed Description

Controls the position of a group of joints using a pid loop.

Author:

Adolfo Rodriguez Tsouroukdissian. This class is heavily inspired on the structure of the JointSplineTrajectoryController written by Stuart Glaser, and the JointPositionController.

Definition at line 61 of file joint_group_position_controller.h.

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Member Typedef Documentation

typedef std::vector<double> controller::JointGroupPositionController::JointErrorList

Definition at line 65 of file joint_group_position_controller.h.

typedef std::vector<double> controller::JointGroupPositionController::JointPosList

Definition at line 66 of file joint_group_position_controller.h.

typedef std::vector<int> controller::JointGroupPositionController::JointStateToCmd

Definition at line 67 of file joint_group_position_controller.h.

typedef std::vector<control_toolbox::Pid> controller::JointGroupPositionController::PidList

Definition at line 64 of file joint_group_position_controller.h.

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Constructor & Destructor Documentation

controller::JointGroupPositionController::JointGroupPositionController

(

)

Definition at line 52 of file joint_group_position_controller.cpp.

controller::JointGroupPositionController::~JointGroupPositionController

(

)

Definition at line 56 of file joint_group_position_controller.cpp.

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Member Function Documentation

void controller::JointGroupPositionController::commandCB

(

const sensor_msgs::JointState::ConstPtr &

command

)

[private]

Definition at line 167 of file joint_group_position_controller.cpp.

bool controller::JointGroupPositionController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 61 of file joint_group_position_controller.cpp.

void controller::JointGroupPositionController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 129 of file joint_group_position_controller.cpp.

void controller::JointGroupPositionController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 139 of file joint_group_position_controller.cpp.

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Member Data Documentation

JointErrorList controller::JointGroupPositionController::errors_ [private]

Definition at line 83 of file joint_group_position_controller.h.

std::vector<pr2_mechanism_model::JointState*> controller::JointGroupPositionController::joints_ [private]

Definition at line 80 of file joint_group_position_controller.h.

ros::Time controller::JointGroupPositionController::last_time_ [private]

Definition at line 79 of file joint_group_position_controller.h.

JointStateToCmd controller::JointGroupPositionController::lookup_ [private]

Definition at line 84 of file joint_group_position_controller.h.

ros::NodeHandle controller::JointGroupPositionController::node_ [private]

Definition at line 86 of file joint_group_position_controller.h.

PidList controller::JointGroupPositionController::pids_ [private]

Definition at line 81 of file joint_group_position_controller.h.

JointPosList controller::JointGroupPositionController::ref_pos_ [private]

Definition at line 82 of file joint_group_position_controller.h.

pr2_mechanism_model::RobotState* controller::JointGroupPositionController::robot_ [private]

Definition at line 78 of file joint_group_position_controller.h.

ros::Subscriber controller::JointGroupPositionController::sub_command_ [private]

Definition at line 89 of file joint_group_position_controller.h.

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

• joint_group_position_controller.h
• joint_group_position_controller.cpp