controller::SrController Class Reference

#include <sr_controller.hpp>

Inheritance diagram for controller::SrController:

List of all members.

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
std::string	getJointName ()
virtual bool	init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n)=0
virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
	SrController ()
virtual void	starting (const ros::Time &time)
virtual void	update (const ros::Time &time, const ros::Duration &period)=0
	Issues commands to the joint. Should be called at regular intervals.
virtual	~SrController ()
Public Attributes
double	command_
bool	has_j2
ros_ethercat_model::JointState *	joint_state_
ros_ethercat_model::JointState *	joint_state_2
Protected Member Functions
void	after_init ()
	call this function at the end of the init function in the inheriting classes.
virtual double	clamp_command (double cmd)
void	get_joints_states_1_2 ()
void	get_min_max (urdf::Model model, std::string joint_name)
bool	is_joint_0 ()
void	maxForceFactorCB (const std_msgs::Float64ConstPtr &msg)
virtual void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	set the command from a topic
Protected Attributes
boost::scoped_ptr < realtime_tools::RealtimePublisher < control_msgs::JointControllerState > >	controller_state_publisher_
boost::scoped_ptr < sr_friction_compensation::SrFrictionCompensator >	friction_compensator
int	friction_deadband
	the deadband for the friction compensation algorithm
sr_deadband::HysteresisDeadband < double >	hysteresis_deadband
	We're using an hysteresis deadband.
bool	initialized_
std::string	joint_name_
int	loop_count_
double	max_
double	max_force_demand
	clamps the force demand to this value
double	max_force_factor_
double	min_
	Min and max range of the joint, used to clamp the command.
ros::NodeHandle	n_tilde_
ros::NodeHandle	node_
ros_ethercat_model::RobotState *	robot_
ros::ServiceServer	serve_reset_gains_
ros::ServiceServer	serve_set_gains_
ros::Subscriber	sub_command_
ros::Subscriber	sub_max_force_factor_

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Detailed Description

Definition at line 54 of file sr_controller.hpp.

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Constructor & Destructor Documentation

controller::SrController::SrController

(

)

Definition at line 39 of file sr_controller.cpp.

controller::SrController::~SrController

(

)

[virtual]

Definition at line 56 of file sr_controller.cpp.

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Member Function Documentation

void controller::SrController::after_init

(

)

[protected]

call this function at the end of the init function in the inheriting classes.

Definition at line 82 of file sr_controller.cpp.

double controller::SrController::clamp_command

(

double

cmd

)

[protected, virtual]

Clamps the command to the correct range (between min and max).

Parameters:

cmd	the command we want to clamp

Returns:

the clamped command

Definition at line 117 of file sr_controller.cpp.

void controller::SrController::get_joints_states_1_2

(

)

[protected]

Definition at line 70 of file sr_controller.cpp.

void controller::SrController::get_min_max	(	urdf::Model	model,
		std::string	joint_name
	)		[protected]

Reads the min and max from the robot model for the current joint.

Parameters:

model	the urdf description of the robot
joint_name	the name of the joint

Definition at line 93 of file sr_controller.cpp.

virtual void controller::SrController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		[inline, virtual]

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointMuscleValveController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 72 of file sr_controller.hpp.

std::string controller::SrController::getJointName

(

)

Definition at line 88 of file sr_controller.cpp.

virtual bool controller::SrController::init	(	ros_ethercat_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[pure virtual]

Reimplemented from controller_interface::Controller< ros_ethercat_model::RobotState >.

Implemented in controller::SrhExampleController, controller::SrhMixedPositionVelocityJointController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

bool controller::SrController::is_joint_0

(

)

[protected]

Definition at line 61 of file sr_controller.cpp.

void controller::SrController::maxForceFactorCB

(

const std_msgs::Float64ConstPtr &

msg

)

[protected]

Callback function for the max force factor topic

Parameters:

msg	the message receiver over the topic

Definition at line 128 of file sr_controller.cpp.

virtual bool controller::SrController::resetGains	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		[inline, virtual]

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhJointMuscleValveController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 70 of file sr_controller.hpp.

virtual void controller::SrController::setCommandCB

(

const std_msgs::Float64ConstPtr &

msg

)

[inline, protected, virtual]

set the command from a topic

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhMuscleJointPositionController, controller::SrhJointVelocityController, controller::SrhJointPositionController, and controller::SrhEffortJointController.

Definition at line 124 of file sr_controller.hpp.

virtual void controller::SrController::starting

(

const ros::Time &

time

)

[inline, virtual]

Reimplemented from controller_interface::ControllerBase.

Reimplemented in controller::SrhExampleController, controller::SrhMixedPositionVelocityJointController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

Definition at line 63 of file sr_controller.hpp.

virtual void controller::SrController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[pure virtual]

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

Implements controller_interface::ControllerBase.

Implemented in controller::SrhExampleController, controller::SrhMixedPositionVelocityJointController, controller::SrhSyntouchController, controller::SrhJointMuscleValveController, controller::SrhJointVelocityController, controller::SrhEffortJointController, controller::SrhJointPositionController, and controller::SrhMuscleJointPositionController.

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Member Data Documentation

double controller::SrController::command_

Last commanded position.

Definition at line 78 of file sr_controller.hpp.

boost::scoped_ptr<realtime_tools::RealtimePublisher<control_msgs::JointControllerState> > controller::SrController::controller_state_publisher_ [protected]

Reimplemented in controller::SrhJointMuscleValveController, controller::SrhMixedPositionVelocityJointController, controller::SrhMuscleJointPositionController, and controller::SrhSyntouchController.

Definition at line 119 of file sr_controller.hpp.

boost::scoped_ptr<sr_friction_compensation::SrFrictionCompensator> controller::SrController::friction_compensator [protected]

Definition at line 121 of file sr_controller.hpp.

int controller::SrController::friction_deadband [protected]

the deadband for the friction compensation algorithm

Definition at line 132 of file sr_controller.hpp.

bool controller::SrController::has_j2

true if this is a joint 0.

Definition at line 77 of file sr_controller.hpp.

sr_deadband::HysteresisDeadband<double> controller::SrController::hysteresis_deadband [protected]

We're using an hysteresis deadband.

Reimplemented in controller::SrhMixedPositionVelocityJointController, controller::SrhMuscleJointPositionController, controller::SrhJointVelocityController, and controller::SrhJointPositionController.

Definition at line 135 of file sr_controller.hpp.

bool controller::SrController::initialized_ [protected]

Definition at line 113 of file sr_controller.hpp.

std::string controller::SrController::joint_name_ [protected]

Definition at line 117 of file sr_controller.hpp.

ros_ethercat_model::JointState* controller::SrController::joint_state_

Joint we're controlling.

Definition at line 75 of file sr_controller.hpp.

ros_ethercat_model::JointState* controller::SrController::joint_state_2

2ndJoint we're controlling if joint 0.

Definition at line 76 of file sr_controller.hpp.

int controller::SrController::loop_count_ [protected]

Definition at line 112 of file sr_controller.hpp.

double controller::SrController::max_ [protected]

Definition at line 110 of file sr_controller.hpp.

double controller::SrController::max_force_demand [protected]

clamps the force demand to this value

Definition at line 130 of file sr_controller.hpp.

double controller::SrController::max_force_factor_ [protected]

Definition at line 140 of file sr_controller.hpp.

double controller::SrController::min_ [protected]

Min and max range of the joint, used to clamp the command.

Definition at line 110 of file sr_controller.hpp.

ros::NodeHandle controller::SrController::n_tilde_ [protected]

Definition at line 116 of file sr_controller.hpp.

ros::NodeHandle controller::SrController::node_ [protected]

Definition at line 116 of file sr_controller.hpp.

ros_ethercat_model::RobotState* controller::SrController::robot_ [protected]

Pointer to robot structure.

Definition at line 114 of file sr_controller.hpp.

ros::ServiceServer controller::SrController::serve_reset_gains_ [protected]

Definition at line 127 of file sr_controller.hpp.

ros::ServiceServer controller::SrController::serve_set_gains_ [protected]

Reimplemented in controller::SrhMixedPositionVelocityJointController.

Definition at line 126 of file sr_controller.hpp.

ros::Subscriber controller::SrController::sub_command_ [protected]

Reimplemented in controller::SrhJointMuscleValveController.

Definition at line 125 of file sr_controller.hpp.

ros::Subscriber controller::SrController::sub_max_force_factor_ [protected]

Definition at line 141 of file sr_controller.hpp.

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

• sr_controller.hpp
• sr_controller.cpp