#include <srh_mixed_position_velocity_controller.hpp>

Inheritance diagram for controller::SrhMixedPositionVelocityJointController:

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
virtual void	getGains_velocity (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::SetMixedPositionVelocityPidGains::Request &req, sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &resp)
	SrhMixedPositionVelocityJointController ()
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	resetJointState ()
void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	set the position target from a topic
Private Attributes
boost::scoped_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::JointControllerState > >	controller_state_publisher_
sr_deadband::HysteresisDeadband < double >	hysteresis_deadband
	We're using an hysteresis deadband.
double	max_velocity_
	The values for the velocity demand saturation.
double	min_velocity_
int	motor_min_force_threshold
	smallest demand we can send to the motors
boost::scoped_ptr < control_toolbox::Pid >	pid_controller_position_
boost::scoped_ptr < control_toolbox::Pid >	pid_controller_velocity_
double	position_deadband
	the deadband on the position demand
ros::ServiceServer	serve_set_gains_

Detailed Description

Definition at line 39 of file srh_mixed_position_velocity_controller.hpp.

Constructor & Destructor Documentation

controller::SrhMixedPositionVelocityJointController::SrhMixedPositionVelocityJointController ( )

Definition at line 45 of file srh_mixed_position_velocity_controller.cpp.

Member Function Documentation

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

Reimplemented from controller::SrController.

Definition at line 212 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::getGains_velocity	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		`[virtual]`

Definition at line 217 of file srh_mixed_position_velocity_controller.cpp.

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

Implements controller::SrController.

Definition at line 51 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::read_parameters ( ) [private]

read all the controller settings from the parameter server

Definition at line 356 of file srh_mixed_position_velocity_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 192 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::resetJointState ( ) [private]

Definition at line 374 of file srh_mixed_position_velocity_controller.cpp.

void controller::SrhMixedPositionVelocityJointController::setCommandCB ( const std_msgs::Float64ConstPtr & msg ) [private, virtual]

set the position target from a topic

Reimplemented from controller::SrController.

Definition at line 367 of file srh_mixed_position_velocity_controller.cpp.

bool controller::SrhMixedPositionVelocityJointController::setGains	(	sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &	req,
		sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &	resp
	)