controller::SrhJointMuscleValveController Class Reference

#include <srh_joint_muscle_valve_controller.hpp>

Inheritance diagram for controller::SrhJointMuscleValveController:

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)
	SrhJointMuscleValveController ()
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.
Public Attributes
unsigned int	cmd_duration_ms_ [2]
int8_t	cmd_valve_muscle_ [2]
int8_t	cmd_valve_muscle_max_
int8_t	cmd_valve_muscle_min_
unsigned int	current_duration_ms_ [2]
Private Member Functions
int8_t	clamp_command (int8_t cmd)
	enforce that the value of the received command is in the allowed range
void	read_parameters ()
	read all the controller settings from the parameter server
void	setCommandCB (const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr &msg)
Private Attributes
boost::shared_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::JointMuscleValveControllerState > >	controller_state_publisher_
ros::Subscriber	sub_command_

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Detailed Description

Definition at line 39 of file srh_joint_muscle_valve_controller.hpp.

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Constructor & Destructor Documentation

controller::SrhJointMuscleValveController::SrhJointMuscleValveController

(

)

Definition at line 45 of file srh_joint_muscle_valve_controller.cpp.

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Member Function Documentation

int8_t controller::SrhJointMuscleValveController::clamp_command

(

int8_t

cmd

)

[private]

enforce that the value of the received command is in the allowed range

Definition at line 304 of file srh_joint_muscle_valve_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 143 of file srh_joint_muscle_valve_controller.cpp.

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

Implements controller::SrController.

Definition at line 51 of file srh_joint_muscle_valve_controller.cpp.

void controller::SrhJointMuscleValveController::read_parameters

(

)

[private]

read all the controller settings from the parameter server

Definition at line 285 of file srh_joint_muscle_valve_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 129 of file srh_joint_muscle_valve_controller.cpp.

void controller::SrhJointMuscleValveController::setCommandCB

(

const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr &

msg

)

[private]

Definition at line 290 of file srh_joint_muscle_valve_controller.cpp.

void controller::SrhJointMuscleValveController::starting

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller::SrController.

Definition at line 109 of file srh_joint_muscle_valve_controller.cpp.

void controller::SrhJointMuscleValveController::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 147 of file srh_joint_muscle_valve_controller.cpp.

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Member Data Documentation

unsigned int controller::SrhJointMuscleValveController::cmd_duration_ms_[2]

Last duration commanded for the valve command for each muscle.

Definition at line 58 of file srh_joint_muscle_valve_controller.hpp.

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_[2]

Last commanded valve values for each muscle.

Definition at line 57 of file srh_joint_muscle_valve_controller.hpp.

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_max_

Definition at line 62 of file srh_joint_muscle_valve_controller.hpp.

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_min_

Definition at line 61 of file srh_joint_muscle_valve_controller.hpp.

boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::JointMuscleValveControllerState> > controller::SrhJointMuscleValveController::controller_state_publisher_ [private]

Reimplemented from controller::SrController.

Definition at line 66 of file srh_joint_muscle_valve_controller.hpp.

unsigned int controller::SrhJointMuscleValveController::current_duration_ms_[2]

Definition at line 59 of file srh_joint_muscle_valve_controller.hpp.

ros::Subscriber controller::SrhJointMuscleValveController::sub_command_ [private]

Reimplemented from controller::SrController.

Definition at line 68 of file srh_joint_muscle_valve_controller.hpp.

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

• srh_joint_muscle_valve_controller.hpp
• srh_joint_muscle_valve_controller.cpp