Public Member Functions | Private Member Functions | Private Attributes
controller::SrhJointVelocityController Class Reference

#include <srh_joint_velocity_controller.hpp>

Inheritance diagram for controller::SrhJointVelocityController:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void getGains (double &p, double &i, double &d, double &i_max, double &i_min)
bool init (pr2_mechanism_model::RobotState *robot, const std::string &joint_name, boost::shared_ptr< control_toolbox::Pid > pid_velocity)
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
virtual bool resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
bool setGains (sr_robot_msgs::SetPidGains::Request &req, sr_robot_msgs::SetPidGains::Response &resp)
 SrhJointVelocityController ()
virtual void starting ()
virtual void update ()
 Issues commands to the joint. Should be called at regular intervals.
 ~SrhJointVelocityController ()

Private Member Functions

void read_parameters ()
 read all the controller settings from the parameter server

Private Attributes

sr_deadband::HysteresisDeadband
< double > 
hysteresis_deadband
 We're using an hysteresis deadband.
boost::shared_ptr
< control_toolbox::Pid
pid_controller_velocity_
double velocity_deadband
 the velocity deadband value used in the hysteresis_deadband

Detailed Description

Definition at line 37 of file srh_joint_velocity_controller.hpp.


Constructor & Destructor Documentation

Definition at line 42 of file srh_joint_velocity_controller.cpp.

Definition at line 47 of file srh_joint_velocity_controller.cpp.


Member Function Documentation

void controller::SrhJointVelocityController::getGains ( double &  p,
double &  i,
double &  d,
double &  i_max,
double &  i_min 
) [virtual]

Reimplemented from controller::SrController.

Definition at line 195 of file srh_joint_velocity_controller.cpp.

bool controller::SrhJointVelocityController::init ( pr2_mechanism_model::RobotState robot,
const std::string &  joint_name,
boost::shared_ptr< control_toolbox::Pid pid_velocity 
)

Definition at line 52 of file srh_joint_velocity_controller.cpp.

Reimplemented from controller::SrController.

Definition at line 118 of file srh_joint_velocity_controller.cpp.

read all the controller settings from the parameter server

Definition at line 278 of file srh_joint_velocity_controller.cpp.

bool controller::SrhJointVelocityController::resetGains ( std_srvs::Empty::Request &  req,
std_srvs::Empty::Response &  resp 
) [virtual]

Reimplemented from controller::SrController.

Definition at line 175 of file srh_joint_velocity_controller.cpp.

Definition at line 154 of file srh_joint_velocity_controller.cpp.

Reimplemented from controller::SrController.

Definition at line 142 of file srh_joint_velocity_controller.cpp.

Issues commands to the joint. Should be called at regular intervals.

Reimplemented from controller::SrController.

Definition at line 200 of file srh_joint_velocity_controller.cpp.


Member Data Documentation

We're using an hysteresis deadband.

Reimplemented from controller::SrController.

Definition at line 66 of file srh_joint_velocity_controller.hpp.

Internal PID controller for the velocity loop.

Definition at line 60 of file srh_joint_velocity_controller.hpp.

the velocity deadband value used in the hysteresis_deadband

Definition at line 63 of file srh_joint_velocity_controller.hpp.


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


sr_mechanism_controllers
Author(s): Ugo Cupcic / ugo@shadowrobot.com , contact@shadowrobot.com
autogenerated on Fri Jan 3 2014 12:06:50