sr_friction_compensation.hpp File Reference

Compensate the tendon friction by adding a given value depending on the sign of the force demand. More...

#include <ros/node_handle.h>
#include <boost/scoped_ptr.hpp>
#include <utility>
#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include <boost/thread/condition.hpp>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Float64.h>
#include <pr2_controllers_msgs/JointControllerState.h>
#include <sr_robot_msgs/SetMixedPositionVelocityPidGains.h>
#include <sr_utilities/calibration.hpp>

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Classes
class	sr_friction_compensation::SrFrictionCompensator
Namespaces
namespace	sr_friction_compensation

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Detailed Description

Compensate the tendon friction by adding a given value depending on the sign of the force demand.

Author:

Ugo Cupcic <ugo@shadowrobot.com>

Date:

Wed Aug 17 11:14:31 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.

Definition in file sr_friction_compensation.hpp.