controller::SrhEffortJointController Class Reference

#include <srh_joint_effort_controller.hpp>

Inheritance diagram for controller::SrhEffortJointController:

List of all members.

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
bool	init (ros_ethercat_model::RobotState *robot, ros::NodeHandle &n)
virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
bool	setGains (sr_robot_msgs::SetEffortControllerGains::Request &req, sr_robot_msgs::SetEffortControllerGains::Response &resp)
virtual void	starting (const ros::Time &time)
virtual void	update (const ros::Time &time, const ros::Duration &period)
	Issues commands to the joint. Should be called at regular intervals.
Private Member Functions
void	read_parameters ()
	read all the controller settings from the parameter server
void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	set the effort target from a topic

---

Detailed Description

Definition at line 38 of file srh_joint_effort_controller.hpp.

---

Member Function Documentation

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

Reimplemented from controller::SrController.

Definition at line 135 of file srh_joint_effort_controller.cpp.

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

Implements controller::SrController.

Definition at line 45 of file srh_joint_effort_controller.cpp.

void controller::SrhEffortJointController::read_parameters

(

)

[private]

read all the controller settings from the parameter server

Definition at line 195 of file srh_joint_effort_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 121 of file srh_joint_effort_controller.cpp.

void controller::SrhEffortJointController::setCommandCB

(

const std_msgs::Float64ConstPtr &

msg

)

[private, virtual]

set the effort target from a topic

Reimplemented from controller::SrController.

Definition at line 201 of file srh_joint_effort_controller.cpp.

bool controller::SrhEffortJointController::setGains	(	sr_robot_msgs::SetEffortControllerGains::Request &	req,
		sr_robot_msgs::SetEffortControllerGains::Response &	resp
	)

Definition at line 108 of file srh_joint_effort_controller.cpp.

void controller::SrhEffortJointController::starting

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller::SrController.

Definition at line 102 of file srh_joint_effort_controller.cpp.

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

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

Implements controller::SrController.

Definition at line 139 of file srh_joint_effort_controller.cpp.

---

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

• srh_joint_effort_controller.hpp
• srh_joint_effort_controller.cpp