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joint_force_controller.h

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#ifndef JOINT_FORCE_CONTROLLER_H
#define JOINT_FORCE_CONTROLLER_H

#include <boost/thread/condition.hpp>
#include <ros/node_handle.h>
#include <pr2_controller_interface/controller.h>
#include <control_toolbox/pid.h>
#include "control_toolbox/pid_gains_setter.h"
#include <boost/scoped_ptr.hpp>
#include <realtime_tools/realtime_publisher.h>

#include <std_msgs/Float64.h>
#include <pr2_controllers_msgs/JointControllerState.h>


namespace pr2_dremel
{

class JointForceController : public pr2_controller_interface::Controller
{
public:

  JointForceController();
  ~JointForceController();

  virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
  virtual void starting();
  virtual void update();
private:
  bool initialized_;

  pr2_mechanism_model::RobotState *robot_;       
  control_toolbox::Pid position_pid_controller_;          
  control_toolbox::Pid velocity_pid_controller_;          
  ros::Time last_time_;                          
  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
      pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;

  ros::NodeHandle node_;
  ros::Subscriber position_sub_;
  ros::Subscriber force_sub_;
  //ros::Publisher  vel_pub_;
 
  pr2_mechanism_model::JointState *joint_state_;
  bool   force_control_;
  double force_;
  double position_;
  double max_velocity_;
  double position_control_limit_;

  ros::Duration dt_;

  void forceCB(const std_msgs::Float64ConstPtr& msg);
  void positionCB(const std_msgs::Float64ConstPtr& msg);

  double position_effort(double position, ros::Time time);
  double velocity_effort(double velocity, ros::Time time);
  double force_effort(double force);

  double force_error(double force);
  double position_error(double position);

  static const int velocity_window_ = 30;
  int velocity_id_;
  float velocities_[velocity_window_]; 
  float velocity_sum_;  
  void reset_velocity_average();
};

}

#endif

---

pr2_dremel_arm_controller
Author(s): Christian Bersch (maintained by Benjamin Pitzer)
autogenerated on Sun Mar 3 11:58:25 2013