#include <srh_mixed_position_velocity_controller.hpp>

Inheritance diagram for controller::SrhMixedPositionVelocityJointController:

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
virtual void	getGains_velocity (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_position, 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::SetMixedPositionVelocityPidGains::Request &req, sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &resp)
	SrhMixedPositionVelocityJointController ()
virtual void	starting ()
virtual void	update ()
	Issues commands to the joint. Should be called at regular intervals.
	~SrhMixedPositionVelocityJointController ()
Private Member Functions
void	read_parameters ()
	read all the controller settings from the parameter server
void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
Private Attributes
boost::shared_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::JointControllerState > >	controller_state_publisher_
sr_deadband::HysteresisDeadband < double >	hysteresis_deadband
	We're using an hysteresis deadband.
double	max_velocity_
	The values for the velocity demand saturation.
double	min_velocity_
int	motor_min_force_threshold
	smallest demand we can send to the motors
boost::shared_ptr < control_toolbox::Pid >	pid_controller_position_
boost::shared_ptr < control_toolbox::Pid >	pid_controller_velocity_
double	position_deadband
	the deadband on the position demand
ros::ServiceServer	serve_set_gains_
ros::Subscriber	sub_command_

Detailed Description

Definition at line 39 of file srh_mixed_position_velocity_controller.hpp.

Constructor & Destructor Documentation

controller::SrhMixedPositionVelocityJointController::SrhMixedPositionVelocityJointController ( )

Definition at line 45 of file srh_mixed_position_velocity_controller.cpp.

controller::SrhMixedPositionVelocityJointController::~SrhMixedPositionVelocityJointController ( )

Definition at line 51 of file srh_mixed_position_velocity_controller.cpp.

Member Function Documentation

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

Reimplemented from controller::SrController.

Definition at line 244 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::getGains_velocity	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		`[virtual]`

Definition at line 248 of file srh_mixed_position_velocity_controller.cpp.

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

Definition at line 56 of file srh_mixed_position_velocity_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 142 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::read_parameters ( ) [private]

read all the controller settings from the parameter server

Definition at line 398 of file srh_mixed_position_velocity_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 221 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::setCommandCB ( const std_msgs::Float64ConstPtr & msg ) [private]

Reimplemented from controller::SrController.

bool controller::SrhMixedPositionVelocityJointController::setGains	(	sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &	req,
		sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &	resp
	)