controller::JointVelocityController Class Reference

#include <joint_velocity_controller.h>

Public Member Functions
void	getCommand (double &cmd)
	Get latest position command to the joint: revolute (angle) and prismatic (position).
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
std::string	getJointName ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	init (pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid)
	JointVelocityController ()
void	setCommand (double cmd)
	Give set position of the joint for next update: revolute (angle) and prismatic (position).
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.
virtual void	update ()
	~JointVelocityController ()
Public Attributes
double	command_
ros::Duration	dt_
pr2_mechanism_model::JointState *	joint_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 80 of file joint_velocity_controller.h.

Constructor & Destructor Documentation

controller::JointVelocityController::JointVelocityController ( )

Definition at line 44 of file joint_velocity_controller.cpp.

controller::JointVelocityController::~JointVelocityController ( )

Definition at line 49 of file joint_velocity_controller.cpp.

Member Function Documentation

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.

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.

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

Definition at line 116 of file joint_velocity_controller.cpp.

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

Definition at line 74 of file joint_velocity_controller.cpp.

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.

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.

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

Definition at line 168 of file joint_velocity_controller.cpp.

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.

virtual void controller::JointVelocityController::starting ( ) [inline, virtual]

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

Definition at line 106 of file joint_velocity_controller.h.

void controller::JointVelocityController::update ( ) [virtual]

Definition at line 133 of file joint_velocity_controller.cpp.

Friends And Related Function Documentation

friend class JointVelocityControllerNode [friend]

Definition at line 127 of file joint_velocity_controller.h.

Member Data Documentation

double controller::JointVelocityController::command_

Last commanded position.

Definition at line 119 of file joint_velocity_controller.h.

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

Definition at line 131 of file joint_velocity_controller.h.

ros::Duration controller::JointVelocityController::dt_

Definition at line 117 of file joint_velocity_controller.h.

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

Joint we're controlling.

Definition at line 116 of file joint_velocity_controller.h.

ros::Time controller::JointVelocityController::last_time_ [private]

Last time stamp of update.

Definition at line 124 of file joint_velocity_controller.h.

int controller::JointVelocityController::loop_count_ [private]

Definition at line 125 of file joint_velocity_controller.h.

ros::NodeHandle controller::JointVelocityController::node_ [private]