controller::JointPositionController Class Reference

#include <joint_position_controller.h>

Inheritance diagram for controller::JointPositionController:

List of all members.

Public Member Functions
std::vector< std::vector< int > >	getRawMotorCommands (double position, double velocity)
bool	initialize (std::string name, std::string port_namespace, dynamixel_hardware_interface::DynamixelIO *dxl_io)
void	processCommand (const std_msgs::Float64ConstPtr &msg)
void	processMotorStates (const dynamixel_hardware_interface::MotorStateListConstPtr &msg)
bool	processSetVelocity (dynamixel_hardware_interface::SetVelocity::Request &req, dynamixel_hardware_interface::SetVelocity::Request &res)
bool	processTorqueEnable (dynamixel_hardware_interface::TorqueEnable::Request &req, dynamixel_hardware_interface::TorqueEnable::Request &res)
bool	setVelocity (double velocity)
Private Member Functions
uint16_t	posRad2Enc (double pos_rad)
uint16_t	velRad2Enc (double vel_rad)

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Detailed Description

Definition at line 47 of file joint_position_controller.h.

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Member Function Documentation

std::vector<std::vector<int> > controller::JointPositionController::getRawMotorCommands	(	double	position,
		double	velocity
	)		[virtual]

Implements controller::SingleJointController.

bool controller::JointPositionController::initialize	(	std::string	name,
		std::string	port_namespace,
		dynamixel_hardware_interface::DynamixelIO *	dxl_io
	)		[virtual]

Reimplemented from controller::SingleJointController.

uint16_t controller::JointPositionController::posRad2Enc

(

double

pos_rad

)

[private]

void controller::JointPositionController::processCommand

(

const std_msgs::Float64ConstPtr &

msg

)

[virtual]

Implements controller::SingleJointController.

void controller::JointPositionController::processMotorStates

(

const dynamixel_hardware_interface::MotorStateListConstPtr &

msg

)

[virtual]

Implements controller::SingleJointController.

bool controller::JointPositionController::processSetVelocity	(	dynamixel_hardware_interface::SetVelocity::Request &	req,
		dynamixel_hardware_interface::SetVelocity::Request &	res
	)		[virtual]

Implements controller::SingleJointController.

bool controller::JointPositionController::processTorqueEnable	(	dynamixel_hardware_interface::TorqueEnable::Request &	req,
		dynamixel_hardware_interface::TorqueEnable::Request &	res
	)		[virtual]

Reimplemented from controller::SingleJointController.

bool controller::JointPositionController::setVelocity

(

double

velocity

)

[virtual]

Implements controller::SingleJointController.

uint16_t controller::JointPositionController::velRad2Enc

(

double

vel_rad

)

[private]

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

• joint_position_controller.h