Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes
controller::TriggerController Class Reference

#include <trigger_controller.h>

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

List of all members.

Public Member Functions

bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 TriggerController ()
void update ()
 ~TriggerController ()

Static Public Member Functions

static double getTick (double t, trigger_configuration const &config)
 Convert time to an unrolled phase (in cycles).
static double getTick (const ros::Time &t, trigger_configuration const &config)
 Convert time to an unrolled phase (in cycles).
static ros::Duration getTickDuration (trigger_configuration &config)
 Gets the time during which the output will be active during each cycle.
static double getTickDurationSec (trigger_configuration &config)
 Gets the time during which the output will be active during each cycle.
static ros::Time getTickStartTime (ros::Time time, trigger_configuration const &config)
 Gets the ros::Time at which a cycle starts.
static ros::Time getTickStartTimeFromPhase (double tick, trigger_configuration const &config)
 Gets the ros::Time at which a cycle starts.
static double getTickStartTimeSec (double time, trigger_configuration const &config)
 Gets the ros::Time at which a cycle starts.
static double getTickStartTimeSecFromPhase (double tick, trigger_configuration const &config)
 Gets the ros::Time at which a cycle starts.

Private Member Functions

double getTick ()
bool setWaveformSrv (trigger_configuration &req, ethercat_trigger_controllers::SetWaveform::Response &resp)

Private Attributes

std::string actuator_name_
trigger_configuration config_
pr2_hardware_interface::DigitalOutCommanddigital_out_command_
boost::scoped_ptr
< realtime_tools::RealtimePublisher
< std_msgs::Header > > 
falling_edge_pub_
bool last_out_
ros::NodeHandle node_handle_
double prev_tick_
boost::scoped_ptr
< realtime_tools::RealtimePublisher
< std_msgs::Header > > 
rising_edge_pub_
pr2_mechanism_model::RobotStaterobot_
ros::ServiceServer set_waveform_handle_

Detailed Description

Definition at line 58 of file trigger_controller.h.


Constructor & Destructor Documentation

Definition at line 69 of file trigger_controller.cpp.

Definition at line 74 of file trigger_controller.cpp.


Member Function Documentation

static double controller::TriggerController::getTick ( double  t,
trigger_configuration const &  config 
) [inline, static]

Convert time to an unrolled phase (in cycles).

At time 0, the unrolled phase is equal to -config.phase. Thereafter, phase increases at a rate of 1/config.rep_rate.

Parameters:
tTime for which the phase should be evaluated.
configTrigger configuration for which the phase should be evaluated.
Returns:
Unrolled phase in cycles.

Definition at line 82 of file trigger_controller.h.

static double controller::TriggerController::getTick ( const ros::Time t,
trigger_configuration const &  config 
) [inline, static]

Convert time to an unrolled phase (in cycles).

At time 0, the unrolled phase is equal to -config.phase. Thereafter, phase increases at a rate of 1/config.rep_rate. This function returns the unrolled phase.

Parameters:
tTime for which the phase should be evaluated.
configTrigger configuration for which the phase should be evaluated.
Returns:
Unrolled phase in cycles.

Definition at line 101 of file trigger_controller.h.

double TriggerController::getTick ( ) [private]

Definition at line 78 of file trigger_controller.cpp.

Gets the time during which the output will be active during each cycle.

This function determines how much time the output is active for during each cycle.

Parameters:
configTrigger configuration for which the cycle start should be evaluated.
Returns:
Cycle start time.

Definition at line 194 of file trigger_controller.h.

static double controller::TriggerController::getTickDurationSec ( trigger_configuration config) [inline, static]

Gets the time during which the output will be active during each cycle.

This function determines how much time the output is active for during each cycle.

Parameters:
configTrigger configuration for which the cycle start should be evaluated.
Returns:
Cycle start time.

Definition at line 211 of file trigger_controller.h.

static ros::Time controller::TriggerController::getTickStartTime ( ros::Time  time,
trigger_configuration const &  config 
) [inline, static]

Gets the ros::Time at which a cycle starts.

This function takes a time, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:
tickTime for which to perform the computation.
configTrigger configuration for which the cycle start should be evaluated.
Returns:
Cycle start time.

Definition at line 158 of file trigger_controller.h.

static ros::Time controller::TriggerController::getTickStartTimeFromPhase ( double  tick,
trigger_configuration const &  config 
) [inline, static]

Gets the ros::Time at which a cycle starts.

This function takes an unrolled phase, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:
tickUnrolled phase.
configTrigger configuration for which the cycle start should be evaluated.
Returns:
Cycle start time.

Definition at line 139 of file trigger_controller.h.

static double controller::TriggerController::getTickStartTimeSec ( double  time,
trigger_configuration const &  config 
) [inline, static]

Gets the ros::Time at which a cycle starts.

This function takes a time, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:
tickTime for which to perform the computation.
configTrigger configuration for which the cycle start should be evaluated.
Returns:
Cycle start time.

Definition at line 177 of file trigger_controller.h.

static double controller::TriggerController::getTickStartTimeSecFromPhase ( double  tick,
trigger_configuration const &  config 
) [inline, static]

Gets the ros::Time at which a cycle starts.

This function takes an unrolled phase, and returns the time at which the current cycle started. That is, the most recent time at which the phase was integer.

Parameters:
tickUnrolled phase.
configTrigger configuration for which the cycle start should be evaluated.
Returns:
Cycle start time.

Definition at line 120 of file trigger_controller.h.

Implements pr2_controller_interface::Controller.

Definition at line 149 of file trigger_controller.cpp.

Definition at line 211 of file trigger_controller.cpp.

void TriggerController::update ( void  ) [virtual]

Implements pr2_controller_interface::Controller.

Definition at line 83 of file trigger_controller.cpp.


Member Data Documentation

Definition at line 242 of file trigger_controller.h.

Definition at line 241 of file trigger_controller.h.

Definition at line 228 of file trigger_controller.h.

boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Header> > controller::TriggerController::falling_edge_pub_ [private]

Definition at line 237 of file trigger_controller.h.

Definition at line 238 of file trigger_controller.h.

Definition at line 233 of file trigger_controller.h.

Definition at line 230 of file trigger_controller.h.

boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Header> > controller::TriggerController::rising_edge_pub_ [private]

Definition at line 237 of file trigger_controller.h.

Definition at line 227 of file trigger_controller.h.

Definition at line 232 of file trigger_controller.h.


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


ethercat_trigger_controllers
Author(s): Blaise Gassend
autogenerated on Thu Apr 24 2014 15:44:37