sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp Class Reference

Inheritance diagram for sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp:

Public Member Functions
def	__init__ (self, xml_path)
def	check_prefix (self)
def	get_controller_settings (self, controller_type)
def	get_ctrls (self)
def	load_parameters (self, controller_type, joint_name)
def	refresh_control_mode (self)
def	save_controller (self, joint_name, controller_type, controller_settings, filename)
def	set_controller (self, joint_name, controller_type, controller_settings)
def	set_edit_only (self, running_ctrls)

Public Attributes
	all_controller_types
	control_mode
	controller_prefix
	edit_only_mode
	joint_prefix
	namespace
	pid_loader
	prefix
	selected_prefix
	single_loop
	xml_path

Static Public Attributes
float	CONTROLLER_MANAGER_DETECTION_TIMEOUT = 3.0

Detailed Description

Handles loading, saving and setting of controller settings

Definition at line 83 of file sr_controller_tuner.py.

Constructor & Destructor Documentation

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.__init__	(		self,
			xml_path
	)

Definition at line 90 of file sr_controller_tuner.py.

Member Function Documentation

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.check_prefix

(

self

)

Get the prefix (hand and joint)
Check if it matches selected prefix

Definition at line 115 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.get_controller_settings	(		self,
			controller_type
	)

Parses a file containing the controller settings
and their min and max values, and returns them.

Definition at line 257 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.get_ctrls

(

self

)

Retrieve currently running controllers
return ["Motor Force", "Position"]

Definition at line 173 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.load_parameters	(		self,
			controller_type,
			joint_name
	)

Load the parameters from the yaml file.

Definition at line 267 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.refresh_control_mode

(

self

)

Effectively change control mode on the realtime loop

Definition at line 250 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.save_controller	(		self,
			joint_name,
			controller_type,
			controller_settings,
			filename
	)

Saves the controller settings calling the proper service with the correct syntax for controller type

Definition at line 453 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.set_controller	(		self,
			joint_name,
			controller_type,
			controller_settings
	)

Sets the controller settings calling the proper service with the correct syntax for controller type.

Definition at line 300 of file sr_controller_tuner.py.

def sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.set_edit_only	(		self,
			running_ctrls
	)

Sets all the controllers to defined type for edit-only mode

Definition at line 240 of file sr_controller_tuner.py.

Member Data Documentation

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.all_controller_types

Definition at line 92 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.control_mode

Definition at line 97 of file sr_controller_tuner.py.

float sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.CONTROLLER_MANAGER_DETECTION_TIMEOUT = 3.0

static

Definition at line 88 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.controller_prefix

Definition at line 101 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.edit_only_mode

Definition at line 96 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.joint_prefix

Definition at line 109 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.namespace

Definition at line 113 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.pid_loader

Definition at line 94 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.prefix

Definition at line 108 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.selected_prefix

Definition at line 107 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.single_loop

Definition at line 111 of file sr_controller_tuner.py.

sr_gui_controller_tuner.sr_controller_tuner.SrControllerTunerApp.xml_path

Definition at line 91 of file sr_controller_tuner.py.

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

• sr_controller_tuner.py