Classes | Public Member Functions | Public Attributes | Private Types | Private Member Functions | Private Attributes
gripper_action_controller::GripperActionController< HardwareInterface > Class Template Reference

Controller for executing a gripper command action for simple single-dof grippers. More...

#include <gripper_action_controller.h>

Inheritance diagram for gripper_action_controller::GripperActionController< HardwareInterface >:
Inheritance graph
[legend]

List of all members.

Classes

struct  Commands
 Store position and max effort in struct to allow easier realtime buffer usage. More...

Public Member Functions

 GripperActionController ()
Non Real-Time Safe Functions
bool init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)
Real-Time Safe Functions
void starting (const ros::Time &time)
 Holds the current position.
void stopping (const ros::Time &time)
 Cancels the active action goal, if any.
void update (const ros::Time &time, const ros::Duration &period)

Public Attributes

realtime_tools::RealtimeBuffer
< Commands
command_
Commands command_struct_
Commands command_struct_rt_

Private Types

typedef
actionlib::ActionServer
< control_msgs::GripperCommandAction > 
ActionServer
typedef boost::shared_ptr
< ActionServer
ActionServerPtr
typedef ActionServer::GoalHandle GoalHandle
typedef
HardwareInterfaceAdapter
< HardwareInterface > 
HwIfaceAdapter
typedef
realtime_tools::RealtimeServerGoalHandle
< control_msgs::GripperCommandAction > 
RealtimeGoalHandle
typedef boost::shared_ptr
< RealtimeGoalHandle
RealtimeGoalHandlePtr

Private Member Functions

void cancelCB (GoalHandle gh)
void checkForSuccess (const ros::Time &time, double error_position, double current_position, double current_velocity)
 Check for success and publish appropriate result and feedback.
void goalCB (GoalHandle gh)
void preemptActiveGoal ()
void setHoldPosition (const ros::Time &time)

Private Attributes

ros::Duration action_monitor_period_
ActionServerPtr action_server_
double computed_command_
 Computed command.
ros::NodeHandle controller_nh_
double default_max_effort_
 Max allowed effort.
ros::Timer goal_handle_timer_
double goal_tolerance_
HwIfaceAdapter hw_iface_adapter_
 Adapts desired goal state to HW interface.
hardware_interface::JointHandle joint_
 Handles to controlled joints.
std::string joint_name_
 Controlled joint names.
ros::Time last_movement_time_
 Store stall time.
std::string name_
 Controller name.
control_msgs::GripperCommandResultPtr pre_alloc_result_
RealtimeGoalHandlePtr rt_active_goal_
 Currently active action goal, if any.
double stall_timeout_
double stall_velocity_threshold_
 Stall related parameters.
bool update_hold_position_
bool verbose_
 Hard coded verbose flag to help in debugging.

Detailed Description

template<class HardwareInterface>
class gripper_action_controller::GripperActionController< HardwareInterface >

Controller for executing a gripper command action for simple single-dof grippers.

Template Parameters:
HardwareInterfaceController hardware interface. Currently hardware_interface::PositionJointInterface and hardware_interface::EffortJointInterface are supported out-of-the-box.

Definition at line 75 of file gripper_action_controller.h.


Member Typedef Documentation

template<class HardwareInterface >
typedef actionlib::ActionServer<control_msgs::GripperCommandAction> gripper_action_controller::GripperActionController< HardwareInterface >::ActionServer [private]

Definition at line 111 of file gripper_action_controller.h.

template<class HardwareInterface >
typedef boost::shared_ptr<ActionServer> gripper_action_controller::GripperActionController< HardwareInterface >::ActionServerPtr [private]

Definition at line 112 of file gripper_action_controller.h.

template<class HardwareInterface >
typedef ActionServer::GoalHandle gripper_action_controller::GripperActionController< HardwareInterface >::GoalHandle [private]

Definition at line 113 of file gripper_action_controller.h.

template<class HardwareInterface >
typedef HardwareInterfaceAdapter<HardwareInterface> gripper_action_controller::GripperActionController< HardwareInterface >::HwIfaceAdapter [private]

Definition at line 117 of file gripper_action_controller.h.

template<class HardwareInterface >
typedef realtime_tools::RealtimeServerGoalHandle<control_msgs::GripperCommandAction> gripper_action_controller::GripperActionController< HardwareInterface >::RealtimeGoalHandle [private]

Definition at line 114 of file gripper_action_controller.h.

template<class HardwareInterface >
typedef boost::shared_ptr<RealtimeGoalHandle> gripper_action_controller::GripperActionController< HardwareInterface >::RealtimeGoalHandlePtr [private]

Definition at line 115 of file gripper_action_controller.h.


Constructor & Destructor Documentation

template<class HardwareInterface >
gripper_action_controller::GripperActionController< HardwareInterface >::GripperActionController ( )

Definition at line 128 of file gripper_action_controller_impl.h.


Member Function Documentation

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::cancelCB ( GoalHandle  gh) [private]

Definition at line 286 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::checkForSuccess ( const ros::Time time,
double  error_position,
double  current_position,
double  current_velocity 
) [private]

Check for success and publish appropriate result and feedback.

Definition at line 316 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::goalCB ( GoalHandle  gh) [private]

Definition at line 245 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
bool gripper_action_controller::GripperActionController< HardwareInterface >::init ( HardwareInterface *  hw,
ros::NodeHandle root_nh,
ros::NodeHandle controller_nh 
) [virtual]
template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::preemptActiveGoal ( ) [inline, private]

Definition at line 112 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::setHoldPosition ( const ros::Time time) [private]

Definition at line 307 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::starting ( const ros::Time time) [inline, virtual]

Holds the current position.

Reimplemented from controller_interface::ControllerBase.

Definition at line 92 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::stopping ( const ros::Time time) [inline, virtual]

Cancels the active action goal, if any.

Reimplemented from controller_interface::ControllerBase.

Definition at line 105 of file gripper_action_controller_impl.h.

template<class HardwareInterface >
void gripper_action_controller::GripperActionController< HardwareInterface >::update ( const ros::Time time,
const ros::Duration period 
) [virtual]

Member Data Documentation

template<class HardwareInterface >
ros::Duration gripper_action_controller::GripperActionController< HardwareInterface >::action_monitor_period_ [private]

Definition at line 131 of file gripper_action_controller.h.

template<class HardwareInterface >
ActionServerPtr gripper_action_controller::GripperActionController< HardwareInterface >::action_server_ [private]

Definition at line 135 of file gripper_action_controller.h.

Definition at line 106 of file gripper_action_controller.h.

template<class HardwareInterface >
Commands gripper_action_controller::GripperActionController< HardwareInterface >::command_struct_

Definition at line 107 of file gripper_action_controller.h.

template<class HardwareInterface >
Commands gripper_action_controller::GripperActionController< HardwareInterface >::command_struct_rt_

Definition at line 107 of file gripper_action_controller.h.

template<class HardwareInterface >
double gripper_action_controller::GripperActionController< HardwareInterface >::computed_command_ [private]

Computed command.

Definition at line 145 of file gripper_action_controller.h.

template<class HardwareInterface >
ros::NodeHandle gripper_action_controller::GripperActionController< HardwareInterface >::controller_nh_ [private]

Definition at line 134 of file gripper_action_controller.h.

template<class HardwareInterface >
double gripper_action_controller::GripperActionController< HardwareInterface >::default_max_effort_ [private]

Max allowed effort.

Definition at line 148 of file gripper_action_controller.h.

template<class HardwareInterface >
ros::Timer gripper_action_controller::GripperActionController< HardwareInterface >::goal_handle_timer_ [private]

Definition at line 137 of file gripper_action_controller.h.

template<class HardwareInterface >
double gripper_action_controller::GripperActionController< HardwareInterface >::goal_tolerance_ [private]

Definition at line 149 of file gripper_action_controller.h.

template<class HardwareInterface >
HwIfaceAdapter gripper_action_controller::GripperActionController< HardwareInterface >::hw_iface_adapter_ [private]

Adapts desired goal state to HW interface.

Definition at line 126 of file gripper_action_controller.h.

template<class HardwareInterface >
hardware_interface::JointHandle gripper_action_controller::GripperActionController< HardwareInterface >::joint_ [private]

Handles to controlled joints.

Definition at line 123 of file gripper_action_controller.h.

template<class HardwareInterface >
std::string gripper_action_controller::GripperActionController< HardwareInterface >::joint_name_ [private]

Controlled joint names.

Definition at line 124 of file gripper_action_controller.h.

template<class HardwareInterface >
ros::Time gripper_action_controller::GripperActionController< HardwareInterface >::last_movement_time_ [private]

Store stall time.

Definition at line 144 of file gripper_action_controller.h.

template<class HardwareInterface >
std::string gripper_action_controller::GripperActionController< HardwareInterface >::name_ [private]

Controller name.

Definition at line 122 of file gripper_action_controller.h.

template<class HardwareInterface >
control_msgs::GripperCommandResultPtr gripper_action_controller::GripperActionController< HardwareInterface >::pre_alloc_result_ [private]

Definition at line 129 of file gripper_action_controller.h.

template<class HardwareInterface >
RealtimeGoalHandlePtr gripper_action_controller::GripperActionController< HardwareInterface >::rt_active_goal_ [private]

Currently active action goal, if any.

Definition at line 128 of file gripper_action_controller.h.

template<class HardwareInterface >
double gripper_action_controller::GripperActionController< HardwareInterface >::stall_timeout_ [private]

Definition at line 147 of file gripper_action_controller.h.

template<class HardwareInterface >
double gripper_action_controller::GripperActionController< HardwareInterface >::stall_velocity_threshold_ [private]

Stall related parameters.

Definition at line 147 of file gripper_action_controller.h.

template<class HardwareInterface >
bool gripper_action_controller::GripperActionController< HardwareInterface >::update_hold_position_ [private]

Definition at line 119 of file gripper_action_controller.h.

template<class HardwareInterface >
bool gripper_action_controller::GripperActionController< HardwareInterface >::verbose_ [private]

Hard coded verbose flag to help in debugging.

Definition at line 121 of file gripper_action_controller.h.


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


gripper_action_controller
Author(s): Sachin Chitta
autogenerated on Sat Aug 13 2016 04:20:45