#include <r2_impedance_controller.h>

Inheritance diagram for r2_controller_ns::R2ImpedanceController:

Classes
class	CtrlCalc
Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &n)
virtual void	starting ()
	occurs before first update() call
virtual void	update ()
	performs one iteration of control, main function
Private Member Functions
std::vector< double >	getGainParams (const std::vector< std::string > &param_names, const std::string &param_name)
	load gains from yaml file, used in load_params
void	init_ros_msgs ()
void	joint_command (const sensor_msgs::JointState::ConstPtr &msg)
void	joint_command_entry (const std::string &name, double value, std::vector< double > &desired)
void	joint_command_entry (const std::string &name, bool value, std::vector< int > &desired)
void	joint_left_command (const sensor_msgs::JointState::ConstPtr &msg)
void	joint_neck_command (const sensor_msgs::JointState::ConstPtr &msg)
void	joint_right_command (const sensor_msgs::JointState::ConstPtr &msg)
void	joint_waist_command (const sensor_msgs::JointState::ConstPtr &msg)
void	load_params ()
	loads gains
void	pose_left_command (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	pose_right_command (const geometry_msgs::PoseStamped::ConstPtr &msg)
void	pose_vel_command_inner (const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr &msg, Eigen::Matrix< double, 7, 1 > &cmd, KDL::Twist &velCmd, bool &cart_vel)
void	pose_vel_left_command (const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr &msg)
void	pose_vel_right_command (const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr &msg)
void	publish_msgs ()
void	set_gains (const nasa_r2_common_msgs::Gains::ConstPtr &msg)
bool	set_joint_mode (nasa_r2_common_msgs::SetJointMode::Request &req, nasa_r2_common_msgs::SetJointMode::Response &res)
bool	set_power (nasa_r2_common_msgs::Power::Request &req, nasa_r2_common_msgs::Power::Response &res)
bool	set_servo (nasa_r2_common_msgs::Servo::Request &req, nasa_r2_common_msgs::Servo::Response &res)
bool	set_tip_name (nasa_r2_common_msgs::SetTipName::Request &req, nasa_r2_common_msgs::SetTipName::Response &res)
KDL::Frame	transformPoseMsg (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
CtrlCalc	cc
boost::scoped_ptr < realtime_tools::RealtimePublisher < nasa_r2_common_msgs::Gains > >	gains_publisher
ros::Subscriber	joint_command_sub
ros::Subscriber	left_joint_command_sub
boost::scoped_ptr < tf::MessageFilter < geometry_msgs::PoseStamped > >	left_pose_command_filter
message_filters::Subscriber < geometry_msgs::PoseStamped >	left_pose_command_sub
boost::scoped_ptr < realtime_tools::RealtimePublisher < geometry_msgs::Twist > >	left_pose_error_publisher
boost::scoped_ptr < tf::MessageFilter < nasa_r2_common_msgs::PoseTwistStamped > >	left_pose_vel_command_filter
message_filters::Subscriber < nasa_r2_common_msgs::PoseTwistStamped >	left_pose_vel_command_sub
boost::scoped_ptr < realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped > >	left_tip_pose_publisher
ros::Subscriber	neck_joint_command_sub
ros::NodeHandle	node
ros::Subscriber	right_joint_command_sub
boost::scoped_ptr < tf::MessageFilter < geometry_msgs::PoseStamped > >	right_pose_command_filter
message_filters::Subscriber < geometry_msgs::PoseStamped >	right_pose_command_sub
boost::scoped_ptr < realtime_tools::RealtimePublisher < geometry_msgs::Twist > >	right_pose_error_publisher
boost::scoped_ptr < tf::MessageFilter < nasa_r2_common_msgs::PoseTwistStamped > >	right_pose_vel_command_filter
message_filters::Subscriber < nasa_r2_common_msgs::PoseTwistStamped >	right_pose_vel_command_sub
boost::scoped_ptr < realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped > >	right_tip_pose_publisher
pr2_mechanism_model::RobotState *	robot_state
std::vector < pr2_mechanism_model::JointState * >	robotStateJoints
ros::Subscriber	set_gains_sub
ros::ServiceServer	srv_set_joint_mode
ros::ServiceServer	srv_set_power
ros::ServiceServer	srv_set_servo
ros::ServiceServer	srv_set_tip_name
tf::TransformListener	tfListener
boost::mutex	thread_mutex
ros::Time	time
ros::Subscriber	waist_joint_command_sub

Detailed Description

Definition at line 79 of file r2_impedance_controller.h.

Member Function Documentation

vector< double > R2ImpedanceController::getGainParams	(	const std::vector< std::string > &	param_names,
		const std::string &	param_name
	)		`[private]`

load gains from yaml file, used in load_params

Definition at line 319 of file r2_impedance_controller.cpp.

bool R2ImpedanceController::init	(	pr2_mechanism_model::RobotState *	robot_state,
		ros::NodeHandle &	n
	)		`[virtual]`

Implements pr2_controller_interface::Controller.

Definition at line 93 of file r2_impedance_controller.cpp.

void R2ImpedanceController::init_ros_msgs ( ) [private]

Definition at line 348 of file r2_impedance_controller.cpp.

void R2ImpedanceController::joint_command ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 541 of file r2_impedance_controller.cpp.

void r2_controller_ns::R2ImpedanceController::joint_command_entry	(	const std::string &	name,
		double	value,
		std::vector< double > &	desired
	)		`[private]`

void r2_controller_ns::R2ImpedanceController::joint_command_entry	(	const std::string &	name,
		bool	value,
		std::vector< int > &	desired
	)		`[private]`

void R2ImpedanceController::joint_left_command ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 399 of file r2_impedance_controller.cpp.

void R2ImpedanceController::joint_neck_command ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 401 of file r2_impedance_controller.cpp.

void R2ImpedanceController::joint_right_command ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 400 of file r2_impedance_controller.cpp.

void R2ImpedanceController::joint_waist_command ( const sensor_msgs::JointState::ConstPtr & msg ) [private]

Definition at line 402 of file r2_impedance_controller.cpp.

void R2ImpedanceController::load_params ( ) [private]

loads gains

helps put the named values from getGainParams into the correct index

Definition at line 252 of file r2_impedance_controller.cpp.

void R2ImpedanceController::pose_left_command ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 403 of file r2_impedance_controller.cpp.

void R2ImpedanceController::pose_right_command ( const geometry_msgs::PoseStamped::ConstPtr & msg ) [private]

Definition at line 416 of file r2_impedance_controller.cpp.

void R2ImpedanceController::pose_vel_command_inner	(	const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr &	msg,
		Eigen::Matrix< double, 7, 1 > &	cmd,
		KDL::Twist &	velCmd,
		bool &	cart_vel
	)		`[private]`

Definition at line 435 of file r2_impedance_controller.cpp.

void R2ImpedanceController::pose_vel_left_command ( const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr & msg ) [private]

Definition at line 429 of file r2_impedance_controller.cpp.

void R2ImpedanceController::pose_vel_right_command ( const nasa_r2_common_msgs::PoseTwistStamped::ConstPtr & msg ) [private]

Definition at line 432 of file r2_impedance_controller.cpp.

void R2ImpedanceController::publish_msgs ( ) [private]

Definition at line 895 of file r2_impedance_controller.cpp.

void R2ImpedanceController::set_gains ( const nasa_r2_common_msgs::Gains::ConstPtr & msg ) [private]

need to handle cart gains differently since they aren't indexed into the usual arrays

Definition at line 494 of file r2_impedance_controller.cpp.

bool R2ImpedanceController::set_joint_mode	(	nasa_r2_common_msgs::SetJointMode::Request &	req,
		nasa_r2_common_msgs::SetJointMode::Response &	res
	)		`[private]`