joint_position_controller.h
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00034 
00035 #ifndef JOINT_POSITION_CONTROLLER_H
00036 #define JOINT_POSITION_CONTROLLER_H
00037 
00061 #include <ros/node_handle.h>
00062 
00063 #include <pr2_controller_interface/controller.h>
00064 #include <control_toolbox/pid.h>
00065 #include "control_toolbox/pid_gains_setter.h"
00066 #include <boost/scoped_ptr.hpp>
00067 #include <boost/thread/condition.hpp>
00068 #include <realtime_tools/realtime_publisher.h>
00069 #include <std_msgs/Float64.h>
00070 #include <pr2_controllers_msgs/JointControllerState.h>
00071 
00072 namespace controller
00073 {
00074 
00075 class JointPositionController : public pr2_controller_interface::Controller
00076 {
00077 public:
00078 
00079   JointPositionController();
00080   ~JointPositionController();
00081 
00082   bool init(pr2_mechanism_model::RobotState *robot, const std::string &joint_name,const control_toolbox::Pid &pid);
00083   bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
00084 
00090   void setCommand(double cmd);
00091 
00095    void getCommand(double & cmd);
00096 
00097   virtual void starting() {
00098     command_ = joint_state_->position_;
00099     pid_controller_.reset();
00100   }
00101 
00105   virtual void update();
00106 
00107   void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00108   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
00109 
00110   std::string getJointName();
00111   pr2_mechanism_model::JointState *joint_state_;        
00112   ros::Duration dt_;
00113   double command_;                            
00115 private:
00116   int loop_count_;
00117   bool initialized_;
00118   pr2_mechanism_model::RobotState *robot_;              
00119   control_toolbox::Pid pid_controller_;       
00120   ros::Time last_time_;                          
00123   ros::NodeHandle node_;
00124 
00125   boost::scoped_ptr<
00126     realtime_tools::RealtimePublisher<
00127       pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
00128 
00129   ros::Subscriber sub_command_;
00130   void setCommandCB(const std_msgs::Float64ConstPtr& msg);
00131 };
00132 
00133 } // namespace
00134 
00135 #endif


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:37