#include <joint_velocity_controller.h>

Inheritance diagram for controller::JointVelocityController:

Public Member Functions
void	getCommand (double &cmd)
	Get latest position command to the joint: revolute (angle) and prismatic (position). More...

void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)

std::string	getJointName ()

bool	init (pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid)

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

	JointVelocityController ()

void	setCommand (double cmd)
	Give set position of the joint for next update: revolute (angle) and prismatic (position) More...

void	setGains (const double &p, const double &i, const double &d, const double &i_max, const double &i_min)

virtual void	starting ()
	Issues commands to the joint. Should be called at regular intervals. More...

virtual void	update ()

	~JointVelocityController ()

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 ()

virtual void	stopping ()

void	stopping (const ros::Time &time)

bool	stopRequest ()

void	update (const ros::Time &time, const ros::Duration &period)

void	updateRequest ()

virtual	~Controller ()

Public Attributes
double	command_

ros::Duration	dt_

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	setCommandCB (const std_msgs::Float64ConstPtr &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_controller_

pr2_mechanism_model::RobotState *	robot_

ros::Subscriber	sub_command_

Friends
class	JointVelocityControllerNode

Detailed Description

Definition at line 79 of file joint_velocity_controller.h.

Constructor & Destructor Documentation

◆ JointVelocityController()

controller::JointVelocityController::JointVelocityController ( )

Definition at line 44 of file joint_velocity_controller.cpp.

◆ ~JointVelocityController()

controller::JointVelocityController::~JointVelocityController ( )

Definition at line 49 of file joint_velocity_controller.cpp.

Member Function Documentation

◆ getCommand()

void controller::JointVelocityController::getCommand ( double & cmd )

Get latest position command to the joint: revolute (angle) and prismatic (position).

Definition at line 128 of file joint_velocity_controller.cpp.

◆ getGains()

void controller::JointVelocityController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

Definition at line 111 of file joint_velocity_controller.cpp.

◆ getJointName()

std::string controller::JointVelocityController::getJointName ( )

Definition at line 116 of file joint_velocity_controller.cpp.

◆ init() [1/2]

bool controller::JointVelocityController::init	(	pr2_mechanism_model::RobotState *	robot,
		const std::string &	joint_name,
		const control_toolbox::Pid &	pid
	)

Definition at line 54 of file joint_velocity_controller.cpp.

◆ init() [2/2]

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 74 of file joint_velocity_controller.cpp.

◆ setCommand()

void controller::JointVelocityController::setCommand ( double cmd )

Give set position of the joint for next update: revolute (angle) and prismatic (position)

Parameters

double pos Velocity command to issue

Definition at line 122 of file joint_velocity_controller.cpp.

◆ setCommandCB()

void controller::JointVelocityController::setCommandCB ( const std_msgs::Float64ConstPtr & msg )

private

Definition at line 168 of file joint_velocity_controller.cpp.

◆ setGains()

void controller::JointVelocityController::setGains	(	const double &	p,
		const double &	i,
		const double &	d,
		const double &	i_max,
		const double &	i_min
	)

Definition at line 105 of file joint_velocity_controller.cpp.

◆ starting()

virtual void controller::JointVelocityController::starting ( )

inlinevirtual

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

Reimplemented from pr2_controller_interface::Controller.

Definition at line 105 of file joint_velocity_controller.h.

◆ update()

void controller::JointVelocityController::update ( )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 133 of file joint_velocity_controller.cpp.

Friends And Related Function Documentation

◆ JointVelocityControllerNode

friend class JointVelocityControllerNode

friend

Definition at line 126 of file joint_velocity_controller.h.

Member Data Documentation

◆ command_

double controller::JointVelocityController::command_

Last commanded position.

Definition at line 118 of file joint_velocity_controller.h.

◆ controller_state_publisher_

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

private

Definition at line 130 of file joint_velocity_controller.h.

◆ dt_

ros::Duration controller::JointVelocityController::dt_

Definition at line 116 of file joint_velocity_controller.h.

◆ joint_state_

pr2_mechanism_model::JointState* controller::JointVelocityController::joint_state_

Joint we're controlling.

Definition at line 115 of file joint_velocity_controller.h.

◆ last_time_

ros::Time controller::JointVelocityController::last_time_

private

Last time stamp of update.

Definition at line 123 of file joint_velocity_controller.h.

◆ loop_count_

int controller::JointVelocityController::loop_count_

private

Definition at line 124 of file joint_velocity_controller.h.

◆ node_

ros::NodeHandle controller::JointVelocityController::node_

private

Definition at line 120 of file joint_velocity_controller.h.

◆ pid_controller_

control_toolbox::Pid controller::JointVelocityController::pid_controller_

private

Internal PID controller.

Definition at line 122 of file joint_velocity_controller.h.

◆ robot_

pr2_mechanism_model::RobotState* controller::JointVelocityController::robot_

private

Pointer to robot structure.

Definition at line 121 of file joint_velocity_controller.h.

◆ sub_command_

ros::Subscriber controller::JointVelocityController::sub_command_

private

Definition at line 132 of file joint_velocity_controller.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ JointVelocityController()

◆ ~JointVelocityController()

Member Function Documentation

◆ getCommand()

◆ getGains()

◆ getJointName()

◆ init() [1/2]

◆ init() [2/2]

◆ setCommand()

◆ setCommandCB()

◆ setGains()

◆ starting()

◆ update()

Friends And Related Function Documentation

◆ JointVelocityControllerNode

Member Data Documentation

◆ command_

◆ controller_state_publisher_

◆ dt_

◆ joint_state_

◆ last_time_

◆ loop_count_

◆ node_

◆ pid_controller_

◆ robot_

◆ sub_command_