Classes | Public Member Functions | Private Member Functions | Private Attributes
tulip_controller_namespace::tulip_controller_class Class Reference

#include <tulip_controller.h>

Inheritance diagram for tulip_controller_namespace::tulip_controller_class:
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List of all members.

Classes

struct  exp_properties
struct  init_model_state_properties
struct  orientation_2types
struct  pose_properties
struct  push_properties
struct  quat_prop
struct  rpy_prop
struct  twist_properties
struct  xyz

Public Member Functions

virtual bool applyForcetoRobot (gazebo_msgs::ApplyBodyWrench &srv_wrench, ros::NodeHandle &n)
virtual bool getExpPar (std::string exp_name, exp_properties &exp_var, ros::NodeHandle &n)
virtual bool getRobotState (gazebo_msgs::GetModelState &srv_getstate, rpy_prop &cur_orient_rpy, ros::NodeHandle &n)
virtual bool getXyzPar (std::string xyz_name, xyz &xyz_var, ros::NodeHandle &n)
virtual bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 Controller initialization in non-realtime.
virtual bool setExpState (exp_properties exp_var, ros::NodeHandle &n)
virtual void starting ()
 Controller startup in realtime.
virtual void stopping ()
 Controller stopping in realtime.
virtual void update ()
 Controller update loop in realtime.

Private Member Functions

bool capture ()
 Service call to capture and extract the data.

Private Attributes

volatile int cycle_index_
std::vector< exp_propertiesexp
std::vector< std::string > joint_name
std::vector< double > joint_pos_current
std::vector< double > joint_pos_desired
std::vector< double > joint_pos_feedback
std::vector< double > joint_pos_init
std::vector
< pr2_mechanism_model::JointState * > 
joint_state
ros::Publisher joint_state_pub_
std::vector< control_toolbox::Pidpid_controller
bool published_jointdata
pr2_mechanism_model::RobotStaterobot_
tulip_gazebo::joint_state_message storage_ [StoreLen]
volatile int storage_index_
ros::Time time_of_first_cycle_
ros::Time time_of_previous_cycle_

Detailed Description

Definition at line 88 of file tulip_controller.h.


Member Function Documentation

Definition at line 176 of file tulip_controller_functions.cpp.

Service call to capture and extract the data.

Definition at line 245 of file tulip_controller.cpp.

bool tulip_controller_namespace::tulip_controller_class::getExpPar ( std::string  exp_name,
exp_properties exp_var,
ros::NodeHandle n 
) [virtual]

Definition at line 62 of file tulip_controller_functions.cpp.

Definition at line 152 of file tulip_controller_functions.cpp.

bool tulip_controller_namespace::tulip_controller_class::getXyzPar ( std::string  xyz_name,
xyz xyz_var,
ros::NodeHandle n 
) [virtual]

Definition at line 55 of file tulip_controller_functions.cpp.

Controller initialization in non-realtime.

Implements pr2_controller_interface::Controller.

Definition at line 62 of file tulip_controller.cpp.

Definition at line 114 of file tulip_controller_functions.cpp.

Controller startup in realtime.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 163 of file tulip_controller.cpp.

Controller stopping in realtime.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 241 of file tulip_controller.cpp.

Controller update loop in realtime.

Implements pr2_controller_interface::Controller.

Definition at line 194 of file tulip_controller.cpp.


Member Data Documentation

Definition at line 96 of file tulip_controller.h.

Definition at line 162 of file tulip_controller.h.

Definition at line 106 of file tulip_controller.h.

Definition at line 104 of file tulip_controller.h.

Definition at line 103 of file tulip_controller.h.

Definition at line 105 of file tulip_controller.h.

Definition at line 102 of file tulip_controller.h.

Definition at line 101 of file tulip_controller.h.

Definition at line 93 of file tulip_controller.h.

Definition at line 97 of file tulip_controller.h.

Definition at line 107 of file tulip_controller.h.

Definition at line 98 of file tulip_controller.h.

Definition at line 94 of file tulip_controller.h.

Definition at line 95 of file tulip_controller.h.

Definition at line 99 of file tulip_controller.h.

Definition at line 100 of file tulip_controller.h.


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


tulip_gazebo
Author(s): Tim Assman, Pieter van Zutven
autogenerated on Tue Jan 7 2014 11:44:29