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 (std::vector< hardware_interface::JointHandle > &joint_handles, ros::NodeHandle &controller_nh)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	updateCommand (const ros::Time &, const ros::Duration &period, const State &, const State &state_error)
Private Types
typedef boost::shared_ptr < control_toolbox::Pid >	PidPtr
Private Attributes
std::vector < hardware_interface::JointHandle > *	joint_handles_ptr_
std::vector< PidPtr >	pids_

Detailed Description

template<class State>
class HardwareInterfaceAdapter< hardware_interface::EffortJointInterface, State >

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:

 head_controller:
   type: "position_controllers/JointTrajectoryController"
   joints:
     - head_1_joint
     - head_2_joint

   constraints:
     goal_time: 0.6
     stopped_velocity_tolerance: 0.02
     head_1_joint:
       trajectory: 0.05
       goal: 0.02
     head_2_joint:
       goal: 0.01

   gains:
     head_1_joint: {p: 200, d: 1, i: 5, i_clamp: 1}
     head_2_joint: {p: 200, d: 1, i: 5, i_clamp: 1}

Definition at line 133 of file hardware_interface_adapter.h.

Member Typedef Documentation

template<class State >

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

Definition at line 197 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

template<class State >

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

Definition at line 136 of file hardware_interface_adapter.h.

Member Function Documentation

template<class State >

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

Definition at line 138 of file hardware_interface_adapter.h.

template<class State >

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

Definition at line 162 of file hardware_interface_adapter.h.

template<class State >

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

Definition at line 174 of file hardware_interface_adapter.h.

template<class State >

void HardwareInterfaceAdapter< hardware_interface::EffortJointInterface, State >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	period,
		const State &	,
		const State &	state_error
	)		`[inline]`