joint_qualification_controllers::CheckoutController Class Reference

Checkout Controller checks state of PR2 mechanism. More...

#include <checkout_controller.h>

Inheritance diagram for joint_qualification_controllers::CheckoutController:

Public Types
enum	{ STARTING, LISTENING, ANALYZING, DONE }

Public Member Functions
void	analysis (double time, bool timeout=false)
	Perform the test analysis. More...
	CheckoutController ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Functional way to initialize. More...
bool	sendData ()
	Sends data, returns true if sent. More...
void	starting ()
	Called when controller is started or restarted. More...
void	update ()
	Checks joint, actuator status for calibrated and enabled. More...
	~CheckoutController ()
Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()
bool	getController (const std::string &name, int sched, ControllerType *&c)
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
void	starting (const ros::Time &time)
bool	startRequest ()
void	stopping (const ros::Time &time)
virtual void	stopping ()
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
void	updateRequest ()
virtual	~Controller ()

Private Member Functions
bool	done ()

Private Attributes
int	actuator_count_
bool	data_sent_
ros::Time	initial_time_
int	joint_count_
double	last_publish_time_
pr2_mechanism_model::RobotState *	robot_
joint_qualification_controllers::RobotData	robot_data_
boost::scoped_ptr< realtime_tools::RealtimePublisher< joint_qualification_controllers::RobotData > >	robot_data_pub_
int	state_
double	timeout_

Additional Inherited Members
Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_
	AFTER_ME
std::vector< std::string >	before_list_
	BEFORE_ME
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum pr2_controller_interface::Controller:: { ... }	state_

Detailed Description

Checkout Controller checks state of PR2 mechanism.

Verifies that all robot joints are calibrated. Publishes state of actuators and joints.

Definition at line 73 of file checkout_controller.h.

Member Enumeration Documentation

anonymous enum

Enumerator
STARTING
LISTENING
ANALYZING
DONE

Definition at line 77 of file checkout_controller.h.

Constructor & Destructor Documentation

CheckoutController::CheckoutController

(

)

Definition at line 44 of file checkout_controller.cpp.

joint_qualification_controllers::CheckoutController::~CheckoutController ( )

inline

Definition at line 80 of file checkout_controller.h.

Member Function Documentation

void CheckoutController::analysis	(	double	time,
		bool	timeout = false
	)

Perform the test analysis.

Definition at line 266 of file checkout_controller.cpp.

bool joint_qualification_controllers::CheckoutController::done ( )

inlineprivate

Definition at line 123 of file checkout_controller.h.

bool CheckoutController::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Functional way to initialize.

Parameters

*robot	The robot that is being controlled.
&n	NodeHandle of mechanism control

Implements pr2_controller_interface::Controller.

Definition at line 60 of file checkout_controller.cpp.

bool CheckoutController::sendData

(

)

Sends data, returns true if sent.

Definition at line 231 of file checkout_controller.cpp.

void CheckoutController::starting ( )

virtual

Called when controller is started or restarted.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 131 of file checkout_controller.cpp.

void CheckoutController::update ( void  )

virtual

Checks joint, actuator status for calibrated and enabled.

Implements pr2_controller_interface::Controller.

Definition at line 138 of file checkout_controller.cpp.

Member Data Documentation

int joint_qualification_controllers::CheckoutController::actuator_count_

private

Definition at line 121 of file checkout_controller.h.

bool joint_qualification_controllers::CheckoutController::data_sent_

private

Definition at line 125 of file checkout_controller.h.

ros::Time joint_qualification_controllers::CheckoutController::initial_time_

private

Start time of the test.

Definition at line 112 of file checkout_controller.h.

int joint_qualification_controllers::CheckoutController::joint_count_

private

Definition at line 120 of file checkout_controller.h.

double joint_qualification_controllers::CheckoutController::last_publish_time_

private

Definition at line 127 of file checkout_controller.h.

pr2_mechanism_model::RobotState* joint_qualification_controllers::CheckoutController::robot_

private

Definition at line 111 of file checkout_controller.h.

joint_qualification_controllers::RobotData joint_qualification_controllers::CheckoutController::robot_data_

private

Definition at line 116 of file checkout_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher< joint_qualification_controllers::RobotData> > joint_qualification_controllers::CheckoutController::robot_data_pub_

private

Definition at line 131 of file checkout_controller.h.

int joint_qualification_controllers::CheckoutController::state_

private

Definition at line 118 of file checkout_controller.h.

double joint_qualification_controllers::CheckoutController::timeout_

private

Definition at line 114 of file checkout_controller.h.

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

• checkout_controller.h
• checkout_controller.cpp