controller::SrhMuscleJointPositionController Class Reference

#include <srh_muscle_joint_position_controller.hpp>

Inheritance diagram for controller::SrhMuscleJointPositionController:

List of all members.

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
bool	init (pr2_mechanism_model::RobotState *robot, const std::string &joint_name, boost::shared_ptr< control_toolbox::Pid > pid_position)
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
bool	setGains (sr_robot_msgs::SetPidGains::Request &req, sr_robot_msgs::SetPidGains::Response &resp)
	SrhMuscleJointPositionController ()
virtual void	starting ()
virtual void	update ()
	Issues commands to the joint. Should be called at regular intervals.
	~SrhMuscleJointPositionController ()
Private Member Functions
void	read_parameters ()
	read all the controller settings from the parameter server
Private Attributes
int	command_acc_
	Command accumulator, time to keep the valves open/shut, sign gives the direction.
boost::shared_ptr < realtime_tools::RealtimePublisher < sr_robot_msgs::JointMusclePositionControllerState > >	controller_state_publisher_
sr_deadband::HysteresisDeadband < double >	hysteresis_deadband
	We're using an hysteresis deadband.
std::string	joint_name_
double	max_force_demand
	clamps the force demand to this value
boost::shared_ptr < control_toolbox::Pid >	pid_controller_position_
double	position_deadband
	the position deadband value used in the hysteresis_deadband

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Detailed Description

Definition at line 36 of file srh_muscle_joint_position_controller.hpp.

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Constructor & Destructor Documentation

controller::SrhMuscleJointPositionController::SrhMuscleJointPositionController

(

)

Definition at line 42 of file srh_muscle_joint_position_controller.cpp.

controller::SrhMuscleJointPositionController::~SrhMuscleJointPositionController

(

)

Definition at line 47 of file srh_muscle_joint_position_controller.cpp.

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Member Function Documentation

void controller::SrhMuscleJointPositionController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		[virtual]

Reimplemented from controller::SrController.

Definition at line 200 of file srh_muscle_joint_position_controller.cpp.

bool controller::SrhMuscleJointPositionController::init	(	pr2_mechanism_model::RobotState *	robot,
		const std::string &	joint_name,
		boost::shared_ptr< control_toolbox::Pid >	pid_position
	)

Definition at line 52 of file srh_muscle_joint_position_controller.cpp.

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

Reimplemented from controller::SrController.

Definition at line 123 of file srh_muscle_joint_position_controller.cpp.

void controller::SrhMuscleJointPositionController::read_parameters

(

)

[private]

read all the controller settings from the parameter server

Definition at line 380 of file srh_muscle_joint_position_controller.cpp.

bool controller::SrhMuscleJointPositionController::resetGains	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)		[virtual]

Reimplemented from controller::SrController.

Definition at line 180 of file srh_muscle_joint_position_controller.cpp.

bool controller::SrhMuscleJointPositionController::setGains	(	sr_robot_msgs::SetPidGains::Request &	req,
		sr_robot_msgs::SetPidGains::Response &	resp
	)

Definition at line 158 of file srh_muscle_joint_position_controller.cpp.

void controller::SrhMuscleJointPositionController::starting

(

)

[virtual]

Reimplemented from controller::SrController.

Definition at line 146 of file srh_muscle_joint_position_controller.cpp.

void controller::SrhMuscleJointPositionController::update

(

void

)

[virtual]

Issues commands to the joint. Should be called at regular intervals.

Reimplemented from controller::SrController.

Definition at line 205 of file srh_muscle_joint_position_controller.cpp.

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Member Data Documentation

int controller::SrhMuscleJointPositionController::command_acc_ [private]

Command accumulator, time to keep the valves open/shut, sign gives the direction.

Definition at line 73 of file srh_muscle_joint_position_controller.hpp.

boost::shared_ptr<realtime_tools::RealtimePublisher<sr_robot_msgs::JointMusclePositionControllerState> > controller::SrhMuscleJointPositionController::controller_state_publisher_ [private]

Reimplemented from controller::SrController.

Definition at line 61 of file srh_muscle_joint_position_controller.hpp.

sr_deadband::HysteresisDeadband<double> controller::SrhMuscleJointPositionController::hysteresis_deadband [private]

We're using an hysteresis deadband.

Reimplemented from controller::SrController.

Definition at line 70 of file srh_muscle_joint_position_controller.hpp.

std::string controller::SrhMuscleJointPositionController::joint_name_ [private]

Definition at line 78 of file srh_muscle_joint_position_controller.hpp.

double controller::SrhMuscleJointPositionController::max_force_demand [private]

clamps the force demand to this value

Reimplemented from controller::SrController.

Definition at line 64 of file srh_muscle_joint_position_controller.hpp.

boost::shared_ptr<control_toolbox::Pid> controller::SrhMuscleJointPositionController::pid_controller_position_ [private]

Internal PID controller for the position loop.

Definition at line 58 of file srh_muscle_joint_position_controller.hpp.

double controller::SrhMuscleJointPositionController::position_deadband [private]

the position deadband value used in the hysteresis_deadband

Definition at line 67 of file srh_muscle_joint_position_controller.hpp.

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

• srh_muscle_joint_position_controller.hpp
• srh_muscle_joint_position_controller.cpp