Public Types | Public Member Functions | Private Member Functions | Private Attributes
joint_qualification_controllers::CheckoutController Class Reference

Checkout Controller checks state of PR2 mechanism. More...

#include <checkout_controller.h>

Inheritance diagram for joint_qualification_controllers::CheckoutController:
Inheritance graph
[legend]

List of all members.

Public Types

enum  { STARTING, LISTENING, ANALYZING, DONE }

Public Member Functions

void analysis (double time, bool timeout=false)
 Perform the test analysis.
 CheckoutController ()
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 Functional way to initialize.
bool sendData ()
 Sends data, returns true if sent.
void starting ()
 Called when controller is started or restarted.
void update ()
 Checks joint, actuator status for calibrated and enabled.
 ~CheckoutController ()

Private Member Functions

bool done ()

Private Attributes

int actuator_count_
bool data_sent_
ros::Time initial_time_
int joint_count_
double last_publish_time_
pr2_mechanism_model::RobotStaterobot_
joint_qualification_controllers::RobotData robot_data_
boost::scoped_ptr
< realtime_tools::RealtimePublisher
< joint_qualification_controllers::RobotData > > 
robot_data_pub_
int state_
double timeout_

Detailed Description

Checkout Controller checks state of PR2 mechanism.

Verifies that all robot joints are calibrated. Publishes state of actuators and joints.

Definition at line 73 of file checkout_controller.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
STARTING 
LISTENING 
ANALYZING 
DONE 

Definition at line 77 of file checkout_controller.h.


Constructor & Destructor Documentation

Definition at line 44 of file checkout_controller.cpp.

Definition at line 80 of file checkout_controller.h.


Member Function Documentation

void CheckoutController::analysis ( double  time,
bool  timeout = false 
)

Perform the test analysis.

Definition at line 266 of file checkout_controller.cpp.

Definition at line 123 of file checkout_controller.h.

Functional way to initialize.

Parameters:
*robotThe robot that is being controlled.
&nNodeHandle of mechanism control

Implements pr2_controller_interface::Controller.

Definition at line 60 of file checkout_controller.cpp.

Sends data, returns true if sent.

Definition at line 231 of file checkout_controller.cpp.

void CheckoutController::starting ( ) [virtual]

Called when controller is started or restarted.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 131 of file checkout_controller.cpp.

void CheckoutController::update ( void  ) [virtual]

Checks joint, actuator status for calibrated and enabled.

Implements pr2_controller_interface::Controller.

Definition at line 138 of file checkout_controller.cpp.


Member Data Documentation

Definition at line 121 of file checkout_controller.h.

Definition at line 125 of file checkout_controller.h.

Start time of the test.

Definition at line 112 of file checkout_controller.h.

Definition at line 120 of file checkout_controller.h.

Definition at line 127 of file checkout_controller.h.

Definition at line 111 of file checkout_controller.h.

joint_qualification_controllers::RobotData joint_qualification_controllers::CheckoutController::robot_data_ [private]

Definition at line 116 of file checkout_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher< joint_qualification_controllers::RobotData> > joint_qualification_controllers::CheckoutController::robot_data_pub_ [private]

Definition at line 131 of file checkout_controller.h.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 118 of file checkout_controller.h.

Definition at line 114 of file checkout_controller.h.


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


joint_qualification_controllers
Author(s): Kevin Watts, Melonee Wise
autogenerated on Sat Apr 27 2019 03:10:47