#include <fake_calibration_controller.hpp>
Public Member Functions | |
FakeCalibrationController () | |
virtual bool | init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n) |
virtual void | update (const ros::Time &, const ros::Duration &) |
Issues commands to the joint. Should be called at regular intervals. | |
Private Types | |
enum | { INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH, CALIBRATED } |
Private Attributes | |
std_msgs::Bool | calib_msg_ |
ros_ethercat_model::JointState * | joint_ |
std::string | joint_name_ |
ros::Time | last_publish_time_ |
ros::NodeHandle | node_ |
boost::shared_ptr < realtime_tools::RealtimePublisher < std_msgs::Bool > > | pub_calibrated_ |
ros_ethercat_model::RobotState * | robot_ |
int | state_ |
Definition at line 39 of file fake_calibration_controller.hpp.
anonymous enum [private] |
Definition at line 58 of file fake_calibration_controller.hpp.
Definition at line 32 of file fake_calibration_controller.cpp.
bool ronex::FakeCalibrationController::init | ( | ros_ethercat_model::RobotState * | robot, |
ros::NodeHandle & | n | ||
) | [virtual] |
Reimplemented from controller_interface::Controller< ros_ethercat_model::RobotState >.
Definition at line 38 of file fake_calibration_controller.cpp.
void ronex::FakeCalibrationController::update | ( | const ros::Time & | , |
const ros::Duration & | |||
) | [virtual] |
Issues commands to the joint. Should be called at regular intervals.
Sets the joint to calibrated = true; Also publishes true to the calibrated topic.
Implements controller_interface::ControllerBase.
Definition at line 68 of file fake_calibration_controller.cpp.
std_msgs::Bool ronex::FakeCalibrationController::calib_msg_ [private] |
Definition at line 64 of file fake_calibration_controller.hpp.
Definition at line 61 of file fake_calibration_controller.hpp.
std::string ronex::FakeCalibrationController::joint_name_ [private] |
Definition at line 62 of file fake_calibration_controller.hpp.
Definition at line 56 of file fake_calibration_controller.hpp.
Definition at line 54 of file fake_calibration_controller.hpp.
boost::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::Bool> > ronex::FakeCalibrationController::pub_calibrated_ [private] |
Definition at line 55 of file fake_calibration_controller.hpp.
Definition at line 53 of file fake_calibration_controller.hpp.
int ronex::FakeCalibrationController::state_ [private] |
Reimplemented from controller_interface::ControllerBase.
Definition at line 59 of file fake_calibration_controller.hpp.