Public Member Functions | Public Attributes | Private Attributes
gripperController Class Reference

#include <gripper_controller.h>

List of all members.

Public Member Functions

bool forceRampTo (double force, double duration)
bool forceServo2 (double desired_Force)
bool grabObject (double close_speed, int contactsDesired)
 gripperController (pr2_mechanism_model::JointState *joint_state_, pressureObserver *pressure_observer_, accelerationObserver *acceleration_observer_)
bool initializeGripper ()
bool place (int placeConditions, double acc_trigger, double slip_trigger)
bool positionServo (double desiredPos, double desiredVel)
bool slipServo2 ()
void updateData ()
bool velocityServo (double desiredVel)
 ~gripperController ()

Public Attributes

double accThresh
double coulomb
bool deformation_limit_flag
bool dropped_flag
double dt
double fingertip_force_limit
bool firstRamp
bool force_limit_flag
double force_servo_force_tolerance
double forceContact
double forceContact_l
double forceContact_r
double gripper_state_now_measured_effort
double gripper_state_now_position
double gripper_state_now_velocity
double gripper_state_prev_measured_effort
double gripper_state_prev_position
double gripper_state_prev_velocity
pr2_mechanism_model::JointStatejointState
double kD
double kP
double lpVelocity
double max_effort
accelerationObservermyAccelerationObserver
pressureObservermyPressureObserver
double objectForce
double positionClosed
double positionContact
double positionCurrent
double positionDropped
double positionMarker
double positionMarker_limit
double positionOpen
double ramp_start_force
double ramp_start_time
double servoForce
bool slip_flag
double vel_integral
double vel_integral_vcontrol
digitalFiltervelocityLPFilt

Private Attributes

double initialPosition
double time_cur
double time_prev

Detailed Description

Definition at line 54 of file gripper_controller.h.


Constructor & Destructor Documentation

gripperController::gripperController ( pr2_mechanism_model::JointState joint_state_,
pressureObserver pressure_observer_,
accelerationObserver acceleration_observer_ 
)

Definition at line 380 of file gripper_controller.h.

Definition at line 423 of file gripper_controller.h.


Member Function Documentation

bool gripperController::forceRampTo ( double  force,
double  duration 
)

Definition at line 302 of file gripper_controller.h.

bool gripperController::forceServo2 ( double  desired_Force)

Definition at line 247 of file gripper_controller.h.

bool gripperController::grabObject ( double  close_speed,
int  contactsDesired 
)

Definition at line 154 of file gripper_controller.h.

Definition at line 374 of file gripper_controller.h.

bool gripperController::place ( int  placeConditions,
double  acc_trigger,
double  slip_trigger 
)

Definition at line 179 of file gripper_controller.h.

bool gripperController::positionServo ( double  desiredPos,
double  desiredVel 
)

Definition at line 338 of file gripper_controller.h.

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bool gripperController::velocityServo ( double  desiredVel)

Definition at line 326 of file gripper_controller.h.


Member Data Documentation

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double gripperController::time_cur [private]

Definition at line 120 of file gripper_controller.h.

double gripperController::time_prev [private]

Definition at line 120 of file gripper_controller.h.

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


pr2_gripper_sensor_controller
Author(s): Joe Romano
autogenerated on Fri Jan 3 2014 11:54:05