joint_qualification_controllers::WristDifferenceController Class Reference

#include <wrist_difference_controller.h>

Inheritance diagram for joint_qualification_controllers::WristDifferenceController:

List of all members.

Public Types
enum	{   STARTING, LEFT, RIGHT, ANALYZING,   DONE }
Public Member Functions
void	analysis ()
	Perform the test analysis.
bool	done ()
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.
void	update ()
	Issues commands to the joint to perform hysteresis test.
	WristDifferenceController ()
	~WristDifferenceController ()
Private Attributes
bool	data_sent_
controller::JointPositionController *	flex_controller_
pr2_mechanism_model::JointState *	flex_joint_
double	flex_position_
double	initial_position_
ros::Time	initial_time_
int	left_count_
int	right_count_
pr2_mechanism_model::RobotState *	robot_
controller::JointVelocityController *	roll_controller_
pr2_mechanism_model::JointState *	roll_joint_
double	roll_velocity_
double	sd_max_
int	start_count_
int	starting_count
int	state_
double	timeout_
double	tolerance_
boost::scoped_ptr < realtime_tools::RealtimePublisher < joint_qualification_controllers::WristDiffData > >	wrist_data_pub_
joint_qualification_controllers::WristDiffData	wrist_test_data_

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Detailed Description

Definition at line 62 of file wrist_difference_controller.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

STARTING
LEFT
RIGHT
ANALYZING
DONE

Definition at line 66 of file wrist_difference_controller.h.

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Constructor & Destructor Documentation

WristDifferenceController::WristDifferenceController

(

)

Definition at line 46 of file wrist_difference_controller.cpp.

WristDifferenceController::~WristDifferenceController

(

)

Definition at line 101 of file wrist_difference_controller.cpp.

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Member Function Documentation

void WristDifferenceController::analysis

(

)

Perform the test analysis.

Definition at line 346 of file wrist_difference_controller.cpp.

bool joint_qualification_controllers::WristDifferenceController::done

(

)

[inline]

Definition at line 98 of file wrist_difference_controller.h.

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

Functional way to initialize.

Parameters:

*robot	The robot that is being controlled.
&n	NodeHandle of mechanism control

Implements pr2_controller_interface::Controller.

Definition at line 107 of file wrist_difference_controller.cpp.

bool WristDifferenceController::sendData

(

)

Sends data, returns true if sent.

Definition at line 376 of file wrist_difference_controller.cpp.

void WristDifferenceController::starting

(

)

[virtual]

Called when controller is started.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 248 of file wrist_difference_controller.cpp.

void WristDifferenceController::update

(

void

)

[virtual]

Issues commands to the joint to perform hysteresis test.

Implements pr2_controller_interface::Controller.

Definition at line 256 of file wrist_difference_controller.cpp.

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Member Data Documentation

bool joint_qualification_controllers::WristDifferenceController::data_sent_ [private]

Definition at line 123 of file wrist_difference_controller.h.

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

Definition at line 107 of file wrist_difference_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::WristDifferenceController::flex_joint_ [private]

Definition at line 104 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::flex_position_ [private]

Definition at line 110 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::initial_position_ [private]

Definition at line 113 of file wrist_difference_controller.h.

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

Start time of the test.

Definition at line 112 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::left_count_ [private]

Definition at line 114 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::right_count_ [private]

Definition at line 114 of file wrist_difference_controller.h.

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

Definition at line 106 of file wrist_difference_controller.h.

controller::JointVelocityController* joint_qualification_controllers::WristDifferenceController::roll_controller_ [private]

Definition at line 108 of file wrist_difference_controller.h.

pr2_mechanism_model::JointState* joint_qualification_controllers::WristDifferenceController::roll_joint_ [private]

Definition at line 105 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::roll_velocity_ [private]

Velocity during the test.

Definition at line 111 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::sd_max_ [private]

Definition at line 118 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::start_count_ [private]

Definition at line 114 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::starting_count [private]

Definition at line 121 of file wrist_difference_controller.h.

int joint_qualification_controllers::WristDifferenceController::state_ [private]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 120 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::timeout_ [private]

Definition at line 116 of file wrist_difference_controller.h.

double joint_qualification_controllers::WristDifferenceController::tolerance_ [private]

Definition at line 117 of file wrist_difference_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<joint_qualification_controllers::WristDiffData> > joint_qualification_controllers::WristDifferenceController::wrist_data_pub_ [private]

Definition at line 126 of file wrist_difference_controller.h.

joint_qualification_controllers::WristDiffData joint_qualification_controllers::WristDifferenceController::wrist_test_data_ [private]

Definition at line 102 of file wrist_difference_controller.h.

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

• wrist_difference_controller.h
• wrist_difference_controller.cpp