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

#include <counterbalance_test_controller.h>

Inheritance diagram for joint_qualification_controllers::CounterbalanceTestController:
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List of all members.

Public Types

enum  {
  STARTING, SETTLING, DITHERING, NEXT,
  DONE
}

Public Member Functions

 CounterbalanceTestController ()
bool done ()
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 Functional way to initialize.
bool sendData ()
void starting ()
void update ()
 Issues commands to the joint. Should be called at regular intervals.
 ~CounterbalanceTestController ()

Public Attributes

joint_qualification_controllers::CounterbalanceTestData cb_test_data_

Private Attributes

boost::scoped_ptr
< realtime_tools::RealtimePublisher
< joint_qualification_controllers::CounterbalanceTestData > > 
cb_data_pub_
bool data_sent_
int dither_count_
int dither_points_
controller::JointPositionControllerflex_controller_
control_toolbox::Ditherflex_dither_
uint flex_index_
pr2_mechanism_model::JointStateflex_state_
ros::Time initial_time_
controller::JointPositionControllerlift_controller_
control_toolbox::Ditherlift_dither_
uint lift_index_
pr2_mechanism_model::JointStatelift_state_
pr2_mechanism_model::RobotStaterobot_
double settle_time_
ros::Time start_time_
int starting_count_
int state_
double timeout_

Detailed Description

Definition at line 63 of file counterbalance_test_controller.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
STARTING 
SETTLING 
DITHERING 
NEXT 
DONE 

Definition at line 67 of file counterbalance_test_controller.h.


Constructor & Destructor Documentation

Todo:
Need PID's for lift, flex

Definition at line 47 of file counterbalance_test_controller.cpp.

Definition at line 108 of file counterbalance_test_controller.cpp.


Member Function Documentation

Definition at line 88 of file counterbalance_test_controller.h.

Functional way to initialize.

Parameters:
*robotThe robot that is being controlled.
&nNode handle for parameters and services

Implements pr2_controller_interface::Controller.

Definition at line 116 of file counterbalance_test_controller.cpp.

Definition at line 553 of file counterbalance_test_controller.cpp.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 435 of file counterbalance_test_controller.cpp.

void CounterbalanceTestController::update ( void  ) [virtual]

Issues commands to the joint. Should be called at regular intervals.

Implements pr2_controller_interface::Controller.

Definition at line 440 of file counterbalance_test_controller.cpp.


Member Data Documentation

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::CounterbalanceTestData> > joint_qualification_controllers::CounterbalanceTestController::cb_data_pub_ [private]

Definition at line 122 of file counterbalance_test_controller.h.

joint_qualification_controllers::CounterbalanceTestData joint_qualification_controllers::CounterbalanceTestController::cb_test_data_

Definition at line 90 of file counterbalance_test_controller.h.

Definition at line 120 of file counterbalance_test_controller.h.

Definition at line 115 of file counterbalance_test_controller.h.

Definition at line 112 of file counterbalance_test_controller.h.

Definition at line 97 of file counterbalance_test_controller.h.

Definition at line 94 of file counterbalance_test_controller.h.

Definition at line 118 of file counterbalance_test_controller.h.

Definition at line 99 of file counterbalance_test_controller.h.

Definition at line 108 of file counterbalance_test_controller.h.

Definition at line 96 of file counterbalance_test_controller.h.

Definition at line 93 of file counterbalance_test_controller.h.

Definition at line 117 of file counterbalance_test_controller.h.

Definition at line 100 of file counterbalance_test_controller.h.

Definition at line 102 of file counterbalance_test_controller.h.

Definition at line 110 of file counterbalance_test_controller.h.

Definition at line 111 of file counterbalance_test_controller.h.

Definition at line 104 of file counterbalance_test_controller.h.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 106 of file counterbalance_test_controller.h.

Definition at line 113 of file counterbalance_test_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