controller::JointCalibrationController Class Reference

#include <joint_calibration_controller.h>

Inheritance diagram for controller::JointCalibrationController:

Public Member Functions
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isCalibrated (pr2_controllers_msgs::QueryCalibrationState::Request &req, pr2_controllers_msgs::QueryCalibrationState::Response &resp)
	JointCalibrationController ()
virtual void	starting ()
virtual void	update ()
virtual	~JointCalibrationController ()
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 ()

Protected Types
enum	{   INITIALIZED, BEGINNING, MOVING_TO_LOW, MOVING_TO_HIGH,   CALIBRATED }

Protected Attributes
pr2_hardware_interface::Actuator *	actuator_
int	countdown_
ros::ServiceServer	is_calibrated_srv_
pr2_mechanism_model::JointState *	joint_
ros::Time	last_publish_time_
ros::NodeHandle	node_
double	original_position_
boost::scoped_ptr< realtime_tools::RealtimePublisher< std_msgs::Empty > >	pub_calibrated_
pr2_mechanism_model::RobotState *	robot_
double	search_velocity_
int	state_
boost::shared_ptr< pr2_mechanism_model::Transmission >	transmission_
controller::JointVelocityController	vc_

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

Definition at line 49 of file joint_calibration_controller.h.

Member Enumeration Documentation

anonymous enum

protected

Enumerator
INITIALIZED
BEGINNING
MOVING_TO_LOW
MOVING_TO_HIGH
CALIBRATED

Definition at line 69 of file joint_calibration_controller.h.

Constructor & Destructor Documentation

controller::JointCalibrationController::JointCalibrationController

(

)

Definition at line 45 of file joint_calibration_controller.cpp.

controller::JointCalibrationController::~JointCalibrationController ( )

virtual

Definition at line 51 of file joint_calibration_controller.cpp.

Member Function Documentation

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 55 of file joint_calibration_controller.cpp.

bool controller::JointCalibrationController::isCalibrated	(	pr2_controllers_msgs::QueryCalibrationState::Request &	req,
		pr2_controllers_msgs::QueryCalibrationState::Response &	resp
	)

Definition at line 191 of file joint_calibration_controller.cpp.

void controller::JointCalibrationController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 183 of file joint_calibration_controller.cpp.

void controller::JointCalibrationController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 200 of file joint_calibration_controller.cpp.

Member Data Documentation

pr2_hardware_interface::Actuator* controller::JointCalibrationController::actuator_

protected

Definition at line 76 of file joint_calibration_controller.h.

int controller::JointCalibrationController::countdown_

protected

Definition at line 71 of file joint_calibration_controller.h.

ros::ServiceServer controller::JointCalibrationController::is_calibrated_srv_

protected

Definition at line 66 of file joint_calibration_controller.h.

pr2_mechanism_model::JointState* controller::JointCalibrationController::joint_

protected

Definition at line 77 of file joint_calibration_controller.h.

ros::Time controller::JointCalibrationController::last_publish_time_

protected

Definition at line 65 of file joint_calibration_controller.h.

ros::NodeHandle controller::JointCalibrationController::node_

protected

Definition at line 64 of file joint_calibration_controller.h.

double controller::JointCalibrationController::original_position_

protected

Definition at line 74 of file joint_calibration_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<std_msgs::Empty> > controller::JointCalibrationController::pub_calibrated_

protected

Definition at line 67 of file joint_calibration_controller.h.

pr2_mechanism_model::RobotState* controller::JointCalibrationController::robot_

protected

Definition at line 63 of file joint_calibration_controller.h.

double controller::JointCalibrationController::search_velocity_

protected

Definition at line 73 of file joint_calibration_controller.h.

int controller::JointCalibrationController::state_

protected

Definition at line 70 of file joint_calibration_controller.h.

boost::shared_ptr<pr2_mechanism_model::Transmission> controller::JointCalibrationController::transmission_

protected

Definition at line 78 of file joint_calibration_controller.h.

controller::JointVelocityController controller::JointCalibrationController::vc_

protected

Definition at line 80 of file joint_calibration_controller.h.

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

• joint_calibration_controller.h
• joint_calibration_controller.cpp