controller::Pr2GripperController Class Reference

#include <pr2_gripper_controller.h>

Inheritance diagram for controller::Pr2GripperController:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	Pr2GripperController ()
virtual void	starting ()
virtual void	update ()
	Issues commands to the joint. Should be called at regular intervals. More...
	~Pr2GripperController ()
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 ()

Public Attributes
realtime_tools::RealtimeBox< pr2_controllers_msgs::Pr2GripperCommandConstPtr >	command_box_
pr2_mechanism_model::JointState *	joint_state_
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_

Private Member Functions
void	commandCB (const pr2_controllers_msgs::Pr2GripperCommandConstPtr &msg)

Private Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState > >	controller_state_publisher_
ros::Time	last_time_
int	loop_count_
ros::NodeHandle	node_
control_toolbox::Pid	pid_
pr2_mechanism_model::RobotState *	robot_
ros::Subscriber	sub_command_

Detailed Description

Definition at line 78 of file pr2_gripper_controller.h.

Constructor & Destructor Documentation

controller::Pr2GripperController::Pr2GripperController

(

)

Definition at line 45 of file pr2_gripper_controller.cpp.

controller::Pr2GripperController::~Pr2GripperController

(

)

Definition at line 51 of file pr2_gripper_controller.cpp.

Member Function Documentation

void controller::Pr2GripperController::commandCB ( const pr2_controllers_msgs::Pr2GripperCommandConstPtr &  msg )

private

Definition at line 152 of file pr2_gripper_controller.cpp.

bool controller::Pr2GripperController::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 56 of file pr2_gripper_controller.cpp.

virtual void controller::Pr2GripperController::starting ( )

inlinevirtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 87 of file pr2_gripper_controller.h.

void controller::Pr2GripperController::update ( void  )

virtual

Issues commands to the joint. Should be called at regular intervals.

Implements pr2_controller_interface::Controller.

Definition at line 100 of file pr2_gripper_controller.cpp.

Member Data Documentation

realtime_tools::RealtimeBox<pr2_controllers_msgs::Pr2GripperCommandConstPtr> controller::Pr2GripperController::command_box_

Definition at line 101 of file pr2_gripper_controller.h.

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState> > controller::Pr2GripperController::controller_state_publisher_

private

Definition at line 113 of file pr2_gripper_controller.h.

pr2_mechanism_model::JointState* controller::Pr2GripperController::joint_state_

Definition at line 100 of file pr2_gripper_controller.h.

ros::Time controller::Pr2GripperController::last_time_

private

Definition at line 107 of file pr2_gripper_controller.h.

int controller::Pr2GripperController::loop_count_

private

Definition at line 104 of file pr2_gripper_controller.h.

ros::NodeHandle controller::Pr2GripperController::node_

private

Definition at line 109 of file pr2_gripper_controller.h.

control_toolbox::Pid controller::Pr2GripperController::pid_

private

Definition at line 106 of file pr2_gripper_controller.h.

pr2_mechanism_model::RobotState* controller::Pr2GripperController::robot_

private

Definition at line 105 of file pr2_gripper_controller.h.

ros::Subscriber controller::Pr2GripperController::sub_command_

private

Definition at line 115 of file pr2_gripper_controller.h.

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

• pr2_gripper_controller.h
• pr2_gripper_controller.cpp