pr2_dremel::JointForceController Class Reference

#include <joint_force_controller.h>

Inheritance diagram for pr2_dremel::JointForceController:

[legend]

List of all members.

Public Member Functions
virtual bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	JointForceController ()
virtual void	starting ()
virtual void	update ()
	~JointForceController ()
Private Member Functions
double	force_effort (double force)
double	force_error (double force)
void	forceCB (const std_msgs::Float64ConstPtr &msg)
double	position_effort (double position, ros::Time time)
double	position_error (double position)
void	positionCB (const std_msgs::Float64ConstPtr &msg)
void	reset_velocity_average ()
double	velocity_effort (double velocity, ros::Time time)
Private Attributes
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointControllerState > >	controller_state_publisher_
ros::Duration	dt_
double	force_
bool	force_control_
ros::Subscriber	force_sub_
bool	initialized_
pr2_mechanism_model::JointState *	joint_state_
ros::Time	last_time_
double	max_velocity_
ros::NodeHandle	node_
double	position_
double	position_control_limit_
control_toolbox::Pid	position_pid_controller_
ros::Subscriber	position_sub_
pr2_mechanism_model::RobotState *	robot_
float	velocities_ [velocity_window_]
int	velocity_id_
control_toolbox::Pid	velocity_pid_controller_
float	velocity_sum_
Static Private Attributes
static const int	velocity_window_ = 30

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Detailed Description

Definition at line 71 of file joint_force_controller.h.

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Constructor & Destructor Documentation

pr2_dremel::JointForceController::JointForceController

(

)

Definition at line 51 of file joint_force_controller.cpp.

pr2_dremel::JointForceController::~JointForceController

(

)

Definition at line 59 of file joint_force_controller.cpp.

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Member Function Documentation

double pr2_dremel::JointForceController::force_effort

(

double

force

)

[private]

Definition at line 171 of file joint_force_controller.cpp.

double pr2_dremel::JointForceController::force_error

(

double

force

)

[private]

Definition at line 166 of file joint_force_controller.cpp.

void pr2_dremel::JointForceController::forceCB

(

const std_msgs::Float64ConstPtr &

msg

)

[private]

Definition at line 213 of file joint_force_controller.cpp.

bool pr2_dremel::JointForceController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)			[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 74 of file joint_force_controller.cpp.

double pr2_dremel::JointForceController::position_effort	(	double	position,
		ros::Time	time
	)			[private]

Definition at line 198 of file joint_force_controller.cpp.

double pr2_dremel::JointForceController::position_error

(

double

position

)

[private]

Definition at line 176 of file joint_force_controller.cpp.

void pr2_dremel::JointForceController::positionCB

(

const std_msgs::Float64ConstPtr &

msg

)

[private]

Definition at line 226 of file joint_force_controller.cpp.

void pr2_dremel::JointForceController::reset_velocity_average

(

)

[private]

Definition at line 65 of file joint_force_controller.cpp.

void pr2_dremel::JointForceController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 110 of file joint_force_controller.cpp.

void pr2_dremel::JointForceController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 122 of file joint_force_controller.cpp.

double pr2_dremel::JointForceController::velocity_effort	(	double	velocity,
		ros::Time	time
	)			[private]

Definition at line 206 of file joint_force_controller.cpp.

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Member Data Documentation

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState> > pr2_dremel::JointForceController::controller_state_publisher_ [private]

Definition at line 91 of file joint_force_controller.h.

ros::Duration pr2_dremel::JointForceController::dt_ [private]

Definition at line 105 of file joint_force_controller.h.

double pr2_dremel::JointForceController::force_ [private]

Definition at line 100 of file joint_force_controller.h.

bool pr2_dremel::JointForceController::force_control_ [private]

Definition at line 99 of file joint_force_controller.h.

ros::Subscriber pr2_dremel::JointForceController::force_sub_ [private]

Definition at line 95 of file joint_force_controller.h.

bool pr2_dremel::JointForceController::initialized_ [private]

Definition at line 82 of file joint_force_controller.h.

pr2_mechanism_model::JointState* pr2_dremel::JointForceController::joint_state_ [private]

Definition at line 98 of file joint_force_controller.h.

ros::Time pr2_dremel::JointForceController::last_time_ [private]

Last time stamp of update.

Definition at line 87 of file joint_force_controller.h.

double pr2_dremel::JointForceController::max_velocity_ [private]

Definition at line 102 of file joint_force_controller.h.

ros::NodeHandle pr2_dremel::JointForceController::node_ [private]

Definition at line 93 of file joint_force_controller.h.

double pr2_dremel::JointForceController::position_ [private]

Definition at line 101 of file joint_force_controller.h.

double pr2_dremel::JointForceController::position_control_limit_ [private]

Definition at line 103 of file joint_force_controller.h.

control_toolbox::Pid pr2_dremel::JointForceController::position_pid_controller_ [private]

Internal position PID controller.

Definition at line 85 of file joint_force_controller.h.

ros::Subscriber pr2_dremel::JointForceController::position_sub_ [private]

Definition at line 94 of file joint_force_controller.h.

pr2_mechanism_model::RobotState* pr2_dremel::JointForceController::robot_ [private]

Pointer to robot structure.

Definition at line 84 of file joint_force_controller.h.

float pr2_dremel::JointForceController::velocities_[velocity_window_] [private]

Definition at line 119 of file joint_force_controller.h.

int pr2_dremel::JointForceController::velocity_id_ [private]

Definition at line 118 of file joint_force_controller.h.

control_toolbox::Pid pr2_dremel::JointForceController::velocity_pid_controller_ [private]

Internal velocity PID controller.

Definition at line 86 of file joint_force_controller.h.

float pr2_dremel::JointForceController::velocity_sum_ [private]

Definition at line 120 of file joint_force_controller.h.

const int pr2_dremel::JointForceController::velocity_window_ = 30 [static, private]

Definition at line 117 of file joint_force_controller.h.

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

• joint_force_controller.h
• joint_force_controller.cpp