#include <standard.h>

Inheritance diagram for rm_shooter_controllers::Controller:

Public Member Functions
	Controller ()=default

bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override

void	starting (const ros::Time &) override

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

Public Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, rm_control::RobotStateInterface >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)

	MultiInterfaceController (bool allow_optional_interfaces=false)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

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

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

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Private Types
enum	{ STOP, READY, PUSH, BLOCK }

Private Member Functions
void	block (const ros::Time &time, const ros::Duration &period)

void	commandCB (const rm_msgs::ShootCmdConstPtr &msg)

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

void	normalize ()

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

void	ready (const ros::Duration &period)

void	reconfigCB (rm_shooter_controllers::ShooterConfig &config, uint32_t)

void	setSpeed (const rm_msgs::ShootCmd &cmd)

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

Private Attributes
double	anti_friction_block_duty_cycle_ {}

double	anti_friction_block_vel_ {}

ros::Time	block_time_

rm_msgs::ShootCmd	cmd_

realtime_tools::RealtimeBuffer< rm_msgs::ShootCmd >	cmd_rt_buffer_

ros::Subscriber	cmd_subscriber_

Config	config_ {}

realtime_tools::RealtimeBuffer< Config >	config_rt_buffer

int	count_ {}

effort_controllers::JointPositionController	ctrl_trigger_

std::vector< std::vector< effort_controllers::JointVelocityController * > >	ctrls_friction_

dynamic_reconfigure::Server< rm_shooter_controllers::ShooterConfig > *	d_srv_ {}

bool	dynamic_reconfig_initialized_ = false

hardware_interface::EffortJointInterface *	effort_joint_interface_ {}

bool	enter_ready_ = false

double	freq_threshold_ {}

int	friction_block_count = 0

double	friction_block_effort_ {}

double	friction_block_vel_ {}

bool	friction_wheel_block = false

bool	has_shoot_ = false

bool	has_shoot_last_ = false

ros::Time	last_block_time_

bool	last_friction_wheel_block = false

ros::Time	last_shoot_time_

double	last_wheel_speed_ {}

std::shared_ptr< realtime_tools::RealtimePublisher< rm_msgs::LocalHeatState > >	local_heat_state_pub_

bool	maybe_block_ = false

int	push_per_rotation_ {}

double	push_wheel_speed_threshold_ {}

std::shared_ptr< realtime_tools::RealtimePublisher< rm_msgs::ShootState > >	shoot_state_pub_

int	state_ = STOP

bool	state_changed_ = false

std::vector< std::vector< double > >	wheel_speed_directions_

bool	wheel_speed_drop_ = true

std::vector< std::vector< double > >	wheel_speed_offsets_

bool	wheel_speed_raise_ = true

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

enum	ControllerState { ControllerState::CONSTRUCTED, ControllerState::INITIALIZED, ControllerState::RUNNING, ControllerState::STOPPED, ControllerState::WAITING, ControllerState::ABORTED }

Public Attributes inherited from controller_interface::ControllerBase
ControllerState	state_

Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, rm_control::RobotStateInterface >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, rm_control::RobotStateInterface >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)

static void	extractInterfaceResources (hardware_interface::RobotHW robot_hw_in, hardware_interface::RobotHW robot_hw_out)

static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)

static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Protected Attributes inherited from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, rm_control::RobotStateInterface >
bool	allow_optional_interfaces_

hardware_interface::RobotHW	robot_hw_ctrl_

Detailed Description

Definition at line 95 of file standard.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

private

Enumerator
STOP
READY
PUSH
BLOCK

Definition at line 140 of file standard.h.

Constructor & Destructor Documentation

◆ Controller()

rm_shooter_controllers::Controller::Controller ( )

default

Member Function Documentation

◆ block()

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

private

Definition at line 286 of file standard.cpp.

◆ commandCB()

void rm_shooter_controllers::Controller::commandCB ( const rm_msgs::ShootCmdConstPtr & msg )

inlineprivate

Definition at line 112 of file standard.h.

◆ init()

bool Controller::init	(	hardware_interface::RobotHW *	robot_hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< hardware_interface::EffortJointInterface, rm_control::RobotStateInterface >.

Definition at line 76 of file standard.cpp.

◆ judgeBulletShoot()

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

private

Definition at line 370 of file standard.cpp.

◆ normalize()

void Controller::normalize ( )

private

Definition at line 353 of file standard.cpp.

◆ push()

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

private

Definition at line 227 of file standard.cpp.

◆ ready()

void Controller::ready ( const ros::Duration & period )

private

Definition at line 216 of file standard.cpp.

◆ reconfigCB()

void Controller::reconfigCB	(	rm_shooter_controllers::ShooterConfig &	config,
		uint32_t
	)

private

Definition at line 412 of file standard.cpp.

◆ setSpeed()

void Controller::setSpeed ( const rm_msgs::ShootCmd & cmd )

private

Definition at line 306 of file standard.cpp.

◆ starting()

void Controller::starting ( const ros::Time & )

overridevirtual

Reimplemented from controller_interface::ControllerBase.

Definition at line 139 of file standard.cpp.

◆ stop()

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

private

Definition at line 199 of file standard.cpp.

◆ update()

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

overridevirtual

Implements controller_interface::ControllerBase.

Definition at line 145 of file standard.cpp.

Member Data Documentation

◆ anti_friction_block_duty_cycle_

double rm_shooter_controllers::Controller::anti_friction_block_duty_cycle_ {}

private

Definition at line 134 of file standard.h.

◆ anti_friction_block_vel_

double rm_shooter_controllers::Controller::anti_friction_block_vel_ {}

private

Definition at line 134 of file standard.h.

◆ block_time_

ros::Time rm_shooter_controllers::Controller::block_time_

private

Definition at line 139 of file standard.h.

◆ cmd_

rm_msgs::ShootCmd rm_shooter_controllers::Controller::cmd_

private

Definition at line 151 of file standard.h.

◆ cmd_rt_buffer_

realtime_tools::RealtimeBuffer<rm_msgs::ShootCmd> rm_shooter_controllers::Controller::cmd_rt_buffer_

private

Definition at line 150 of file standard.h.

◆ cmd_subscriber_

ros::Subscriber rm_shooter_controllers::Controller::cmd_subscriber_

private

Definition at line 154 of file standard.h.

◆ config_

Config rm_shooter_controllers::Controller::config_ {}

private

Definition at line 148 of file standard.h.

◆ config_rt_buffer

realtime_tools::RealtimeBuffer<Config> rm_shooter_controllers::Controller::config_rt_buffer

private

Definition at line 149 of file standard.h.

◆ count_

int rm_shooter_controllers::Controller::count_ {}

private

Definition at line 124 of file standard.h.

◆ ctrl_trigger_

effort_controllers::JointPositionController rm_shooter_controllers::Controller::ctrl_trigger_

private

Definition at line 121 of file standard.h.

◆ ctrls_friction_

std::vector<std::vector<effort_controllers::JointVelocityController*> > rm_shooter_controllers::Controller::ctrls_friction_

private

Definition at line 120 of file standard.h.

◆ d_srv_

dynamic_reconfigure::Server<rm_shooter_controllers::ShooterConfig>* rm_shooter_controllers::Controller::d_srv_ {}

private

Definition at line 155 of file standard.h.

◆ dynamic_reconfig_initialized_

bool rm_shooter_controllers::Controller::dynamic_reconfig_initialized_ = false

private

Definition at line 127 of file standard.h.

◆ effort_joint_interface_

hardware_interface::EffortJointInterface* rm_shooter_controllers::Controller::effort_joint_interface_ {}

private

Definition at line 119 of file standard.h.

◆ enter_ready_

bool rm_shooter_controllers::Controller::enter_ready_ = false

private

Definition at line 129 of file standard.h.

◆ freq_threshold_

double rm_shooter_controllers::Controller::freq_threshold_ {}

private

Definition at line 126 of file standard.h.

◆ friction_block_count

int rm_shooter_controllers::Controller::friction_block_count = 0

private

Definition at line 131 of file standard.h.

◆ friction_block_effort_

double rm_shooter_controllers::Controller::friction_block_effort_ {}

private

Definition at line 133 of file standard.h.

◆ friction_block_vel_

double rm_shooter_controllers::Controller::friction_block_vel_ {}

private

Definition at line 133 of file standard.h.

◆ friction_wheel_block

bool rm_shooter_controllers::Controller::friction_wheel_block = false

private

Definition at line 132 of file standard.h.

◆ has_shoot_

bool rm_shooter_controllers::Controller::has_shoot_ = false

private

Definition at line 135 of file standard.h.

◆ has_shoot_last_

bool rm_shooter_controllers::Controller::has_shoot_last_ = false

private

Definition at line 135 of file standard.h.

◆ last_block_time_

ros::Time rm_shooter_controllers::Controller::last_block_time_

private

Definition at line 139 of file standard.h.

◆ last_friction_wheel_block

bool rm_shooter_controllers::Controller::last_friction_wheel_block = false

private

Definition at line 132 of file standard.h.

◆ last_shoot_time_

ros::Time rm_shooter_controllers::Controller::last_shoot_time_

private

Definition at line 139 of file standard.h.

◆ last_wheel_speed_

double rm_shooter_controllers::Controller::last_wheel_speed_ {}

private

Definition at line 137 of file standard.h.

◆ local_heat_state_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<rm_msgs::LocalHeatState> > rm_shooter_controllers::Controller::local_heat_state_pub_

private

Definition at line 152 of file standard.h.

◆ maybe_block_

bool rm_shooter_controllers::Controller::maybe_block_ = false

private

Definition at line 130 of file standard.h.

◆ push_per_rotation_

int rm_shooter_controllers::Controller::push_per_rotation_ {}

private

Definition at line 124 of file standard.h.

◆ push_wheel_speed_threshold_

double rm_shooter_controllers::Controller::push_wheel_speed_threshold_ {}

private

Definition at line 125 of file standard.h.

◆ shoot_state_pub_

std::shared_ptr<realtime_tools::RealtimePublisher<rm_msgs::ShootState> > rm_shooter_controllers::Controller::shoot_state_pub_

private

Definition at line 153 of file standard.h.

◆ state_

int rm_shooter_controllers::Controller::state_ = STOP

private

Definition at line 147 of file standard.h.

◆ state_changed_

bool rm_shooter_controllers::Controller::state_changed_ = false

private

Definition at line 128 of file standard.h.

◆ wheel_speed_directions_

std::vector<std::vector<double> > rm_shooter_controllers::Controller::wheel_speed_directions_

private

Definition at line 123 of file standard.h.

◆ wheel_speed_drop_

bool rm_shooter_controllers::Controller::wheel_speed_drop_ = true

private

Definition at line 136 of file standard.h.

◆ wheel_speed_offsets_

std::vector<std::vector<double> > rm_shooter_controllers::Controller::wheel_speed_offsets_

private

Definition at line 122 of file standard.h.

◆ wheel_speed_raise_

bool rm_shooter_controllers::Controller::wheel_speed_raise_ = true

private

Definition at line 136 of file standard.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ Controller()

Member Function Documentation

◆ block()

◆ commandCB()

◆ init()

◆ judgeBulletShoot()

◆ normalize()

◆ push()

◆ ready()

◆ reconfigCB()

◆ setSpeed()

◆ starting()

◆ stop()

◆ update()

Member Data Documentation

◆ anti_friction_block_duty_cycle_

◆ anti_friction_block_vel_

◆ block_time_

◆ cmd_

◆ cmd_rt_buffer_

◆ cmd_subscriber_

◆ config_

◆ config_rt_buffer

◆ count_

◆ ctrl_trigger_

◆ ctrls_friction_

◆ d_srv_

◆ dynamic_reconfig_initialized_

◆ effort_joint_interface_

◆ enter_ready_

◆ freq_threshold_

◆ friction_block_count

◆ friction_block_effort_

◆ friction_block_vel_

◆ friction_wheel_block

◆ has_shoot_

◆ has_shoot_last_

◆ last_block_time_

◆ last_friction_wheel_block

◆ last_shoot_time_

◆ last_wheel_speed_

◆ local_heat_state_pub_

◆ maybe_block_

◆ push_per_rotation_

◆ push_wheel_speed_threshold_

◆ shoot_state_pub_

◆ state_

◆ state_changed_

◆ wheel_speed_directions_

◆ wheel_speed_drop_

◆ wheel_speed_offsets_

◆ wheel_speed_raise_