joint_velocity_controller.h
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35 
36 #ifndef EFFORT_CONTROLLERS__JOINT_VELOCITY_CONTROLLER_H
37 #define EFFORT_CONTROLLERS__JOINT_VELOCITY_CONTROLLER_H
38 
62 #include <ros/node_handle.h>
63 #include <boost/thread/condition.hpp>
64 #include <boost/scoped_ptr.hpp>
67 #include <control_msgs/JointControllerState.h>
68 #include <std_msgs/Float64.h>
69 #include <control_toolbox/pid.h>
71 
72 namespace effort_controllers
73 {
74 
75 class JointVelocityController: public controller_interface::Controller<hardware_interface::EffortJointInterface>
76 {
77 public:
78 
81 
82  bool init(hardware_interface::EffortJointInterface *robot, const std::string &joint_name, const control_toolbox::Pid &pid);
83 
98 
104  void setCommand(double cmd);
105 
109  void getCommand(double & cmd);
110 
116  void starting(const ros::Time& time);
117 
121  void update(const ros::Time& time, const ros::Duration& period);
122 
126  void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
127 
131  void getGains(double &p, double &i, double &d, double &i_max, double &i_min, bool &antiwindup);
132 
136  void printDebug();
137 
141  void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup = false);
142 
146  std::string getJointName();
147 
149  double command_;
151 private:
155  //friend class JointVelocityControllerNode; // what is this for??
156 
157  boost::scoped_ptr<
159  control_msgs::JointControllerState> > controller_state_publisher_ ;
160 
162 
166  void setCommandCB(const std_msgs::Float64ConstPtr& msg);
167 };
168 
169 } // namespace
170 
171 #endif
d
void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min, const bool &antiwindup=false)
Get the PID parameters.
string cmd
void starting(const ros::Time &time)
This is called from within the realtime thread just before the first call to update.
void setCommand(double cmd)
Give set velocity of the joint for next update: revolute (angle) and prismatic (velocity) ...
void update(const ros::Time &time, const ros::Duration &period)
Issues commands to the joint. Should be called at regular intervals.
void setCommandCB(const std_msgs::Float64ConstPtr &msg)
Callback from /command subscriber for setpoint.
std::string getJointName()
Get the name of the joint this controller uses.
bool init(hardware_interface::EffortJointInterface *robot, const std::string &joint_name, const control_toolbox::Pid &pid)
void getGains(double &p, double &i, double &d, double &i_max, double &i_min)
Get the PID parameters.
boost::scoped_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > > controller_state_publisher_
void getCommand(double &cmd)
Get latest velocity command to the joint: revolute (angle) and prismatic (velocity).


effort_controllers
Author(s): Vijay Pradeep
autogenerated on Sat Apr 18 2020 03:58:11