Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop. More...

#include <hardware_interface_adapter.h>

Public Member Functions
	HardwareInterfaceAdapter ()
bool	init (hardware_interface::JointHandle &joint_handle, ros::NodeHandle &controller_nh)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
double	updateCommand (const ros::Time &, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)
Private Types
typedef boost::shared_ptr < control_toolbox::Pid >	PidPtr
Private Attributes
hardware_interface::JointHandle *	joint_handle_ptr_
PidPtr	pid_

Detailed Description

template<>
class HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >

Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop.

The following is an example configuration of a controller that uses this adapter. Notice the gains entry:

 gripper_controller:
   type: "gripper_action_controller/GripperActionController"
   joints: gripper_joint
   goal_tolerance: 0.01
   stalled_velocity_threshold: 0.01
   stall_timeout: 0.2
   gains:
     gripper_joint: {p: 200, d: 1, i: 5, i_clamp: 1}

Definition at line 129 of file hardware_interface_adapter.h.

Member Typedef Documentation

typedef boost::shared_ptr<control_toolbox::Pid> HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::PidPtr [private]

Definition at line 185 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::HardwareInterfaceAdapter ( ) [inline]

Definition at line 132 of file hardware_interface_adapter.h.

Member Function Documentation

bool HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::init	(	hardware_interface::JointHandle &	joint_handle,
		ros::NodeHandle &	controller_nh
	)		`[inline]`

Definition at line 134 of file hardware_interface_adapter.h.

void HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::starting ( const ros::Time & time ) [inline]

Definition at line 153 of file hardware_interface_adapter.h.

void HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::stopping ( const ros::Time & time ) [inline]

Definition at line 164 of file hardware_interface_adapter.h.

double HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	period,
		double	desired_position,
		double	desired_velocity,
		double	error_position,
		double	error_velocity,
		double	max_allowed_effort
	)		`[inline]`

Definition at line 166 of file hardware_interface_adapter.h.

Member Data Documentation

hardware_interface::JointHandle* HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::joint_handle_ptr_ [private]

Definition at line 187 of file hardware_interface_adapter.h.

PidPtr HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::pid_ [private]

Definition at line 186 of file hardware_interface_adapter.h.

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

hardware_interface_adapter.h

Public Member Functions

Private Types