joint_qualification_controllers::CounterbalanceTestController Class Reference

#include <counterbalance_test_controller.h>

Inheritance diagram for joint_qualification_controllers::CounterbalanceTestController:

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::JointPositionController *	flex_controller_
control_toolbox::Dither *	flex_dither_
uint	flex_index_
pr2_mechanism_model::JointState *	flex_state_
ros::Time	initial_time_
controller::JointPositionController *	lift_controller_
control_toolbox::Dither *	lift_dither_
uint	lift_index_
pr2_mechanism_model::JointState *	lift_state_
pr2_mechanism_model::RobotState *	robot_
double	settle_time_
ros::Time	start_time_
int	starting_count_
int	state_
double	timeout_

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Detailed Description

Definition at line 63 of file counterbalance_test_controller.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

STARTING
SETTLING
DITHERING
NEXT
DONE

Definition at line 67 of file counterbalance_test_controller.h.

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Constructor & Destructor Documentation

CounterbalanceTestController::CounterbalanceTestController

(

)

Todo:

Need PID's for lift, flex

Definition at line 47 of file counterbalance_test_controller.cpp.

CounterbalanceTestController::~CounterbalanceTestController

(

)

Definition at line 108 of file counterbalance_test_controller.cpp.

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Member Function Documentation

bool joint_qualification_controllers::CounterbalanceTestController::done

(

)

[inline]

Definition at line 88 of file counterbalance_test_controller.h.

bool CounterbalanceTestController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Functional way to initialize.

Parameters:

*robot	The robot that is being controlled.
&n	Node handle for parameters and services

Implements pr2_controller_interface::Controller.

Definition at line 116 of file counterbalance_test_controller.cpp.

bool CounterbalanceTestController::sendData

(

)

Definition at line 553 of file counterbalance_test_controller.cpp.

void CounterbalanceTestController::starting

(

)

[virtual]

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.

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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.

bool joint_qualification_controllers::CounterbalanceTestController::data_sent_ [private]

Definition at line 120 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::dither_count_ [private]

Definition at line 115 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::dither_points_ [private]

Definition at line 112 of file counterbalance_test_controller.h.

controller::JointPositionController* joint_qualification_controllers::CounterbalanceTestController::flex_controller_ [private]

Definition at line 97 of file counterbalance_test_controller.h.

control_toolbox::Dither* joint_qualification_controllers::CounterbalanceTestController::flex_dither_ [private]

Definition at line 94 of file counterbalance_test_controller.h.

uint joint_qualification_controllers::CounterbalanceTestController::flex_index_ [private]

Definition at line 118 of file counterbalance_test_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::CounterbalanceTestController::flex_state_ [private]

Definition at line 99 of file counterbalance_test_controller.h.

ros::Time joint_qualification_controllers::CounterbalanceTestController::initial_time_ [private]

Definition at line 108 of file counterbalance_test_controller.h.

controller::JointPositionController* joint_qualification_controllers::CounterbalanceTestController::lift_controller_ [private]

Definition at line 96 of file counterbalance_test_controller.h.

control_toolbox::Dither* joint_qualification_controllers::CounterbalanceTestController::lift_dither_ [private]

Definition at line 93 of file counterbalance_test_controller.h.

uint joint_qualification_controllers::CounterbalanceTestController::lift_index_ [private]

Definition at line 117 of file counterbalance_test_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::CounterbalanceTestController::lift_state_ [private]

Definition at line 100 of file counterbalance_test_controller.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::CounterbalanceTestController::robot_ [private]

Definition at line 102 of file counterbalance_test_controller.h.

double joint_qualification_controllers::CounterbalanceTestController::settle_time_ [private]

Definition at line 110 of file counterbalance_test_controller.h.

ros::Time joint_qualification_controllers::CounterbalanceTestController::start_time_ [private]

Definition at line 111 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::starting_count_ [private]

Definition at line 104 of file counterbalance_test_controller.h.

int joint_qualification_controllers::CounterbalanceTestController::state_ [private]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 106 of file counterbalance_test_controller.h.

double joint_qualification_controllers::CounterbalanceTestController::timeout_ [private]

Definition at line 113 of file counterbalance_test_controller.h.

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

• counterbalance_test_controller.h
• counterbalance_test_controller.cpp