controller::CartesianTwistController Class Reference

#include <cartesian_twist_controller.h>

Inheritance diagram for controller::CartesianTwistController:

Public Member Functions
	CartesianTwistController ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void	starting ()
void	update ()
	~CartesianTwistController ()
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
KDL::Twist	twist_desi_
KDL::Twist	twist_meas_
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	command (const geometry_msgs::TwistConstPtr &twist_msg)

Private Attributes
pr2_mechanism_model::Chain	chain_
std::vector< control_toolbox::Pid >	fb_pid_controller_
double	ff_rot_
double	ff_trans_
boost::scoped_ptr< KDL::ChainJntToJacSolver >	jac_solver_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_eff_
KDL::JntArrayVel	jnt_posvel_
boost::scoped_ptr< KDL::ChainFkSolverVel >	jnt_to_twist_solver_
KDL::Chain	kdl_chain_
ros::Time	last_time_
ros::NodeHandle	node_
pr2_mechanism_model::RobotState *	robot_state_
ros::Subscriber	sub_command_
geometry_msgs::Twist	twist_msg_
KDL::Wrench	wrench_out_

Detailed Description

Definition at line 81 of file cartesian_twist_controller.h.

Constructor & Destructor Documentation

controller::CartesianTwistController::CartesianTwistController

(

)

Definition at line 46 of file cartesian_twist_controller.cpp.

controller::CartesianTwistController::~CartesianTwistController

(

)

Definition at line 53 of file cartesian_twist_controller.cpp.

Member Function Documentation

void controller::CartesianTwistController::command ( const geometry_msgs::TwistConstPtr &  twist_msg )

private

Definition at line 176 of file cartesian_twist_controller.cpp.

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 59 of file cartesian_twist_controller.cpp.

void controller::CartesianTwistController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 119 of file cartesian_twist_controller.cpp.

void controller::CartesianTwistController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 134 of file cartesian_twist_controller.cpp.

Member Data Documentation

pr2_mechanism_model::Chain controller::CartesianTwistController::chain_

private

Definition at line 107 of file cartesian_twist_controller.h.

std::vector<control_toolbox::Pid> controller::CartesianTwistController::fb_pid_controller_

private

Definition at line 103 of file cartesian_twist_controller.h.

double controller::CartesianTwistController::ff_rot_

private

Definition at line 99 of file cartesian_twist_controller.h.

double controller::CartesianTwistController::ff_trans_

private

Definition at line 99 of file cartesian_twist_controller.h.

boost::scoped_ptr<KDL::ChainJntToJacSolver> controller::CartesianTwistController::jac_solver_

private

Definition at line 112 of file cartesian_twist_controller.h.

KDL::Jacobian controller::CartesianTwistController::jacobian_

private

Definition at line 115 of file cartesian_twist_controller.h.

KDL::JntArray controller::CartesianTwistController::jnt_eff_

private

Definition at line 114 of file cartesian_twist_controller.h.

KDL::JntArrayVel controller::CartesianTwistController::jnt_posvel_

private

Definition at line 113 of file cartesian_twist_controller.h.

boost::scoped_ptr<KDL::ChainFkSolverVel> controller::CartesianTwistController::jnt_to_twist_solver_

private

Definition at line 111 of file cartesian_twist_controller.h.

KDL::Chain controller::CartesianTwistController::kdl_chain_

private

Definition at line 110 of file cartesian_twist_controller.h.

ros::Time controller::CartesianTwistController::last_time_

private

Definition at line 100 of file cartesian_twist_controller.h.

ros::NodeHandle controller::CartesianTwistController::node_

private

Definition at line 96 of file cartesian_twist_controller.h.

pr2_mechanism_model::RobotState* controller::CartesianTwistController::robot_state_

private

Definition at line 106 of file cartesian_twist_controller.h.

ros::Subscriber controller::CartesianTwistController::sub_command_

private

Definition at line 97 of file cartesian_twist_controller.h.

KDL::Twist controller::CartesianTwistController::twist_desi_

Definition at line 93 of file cartesian_twist_controller.h.

KDL::Twist controller::CartesianTwistController::twist_meas_

Definition at line 93 of file cartesian_twist_controller.h.

geometry_msgs::Twist controller::CartesianTwistController::twist_msg_

private

Definition at line 118 of file cartesian_twist_controller.h.

KDL::Wrench controller::CartesianTwistController::wrench_out_

private

Definition at line 116 of file cartesian_twist_controller.h.

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

• cartesian_twist_controller.h
• cartesian_twist_controller.cpp