#include <tulip_controller.h>
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_properties > | exp |
| 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::Pid > | pid_controller |
| bool | published_jointdata |
| pr2_mechanism_model::RobotState * | robot_ |
| 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
| bool tulip_controller_namespace::tulip_controller_class::applyForcetoRobot | ( | gazebo_msgs::ApplyBodyWrench & | srv_wrench, |
| ros::NodeHandle & | n | ||
| ) | [virtual] |
Definition at line 176 of file tulip_controller_functions.cpp.
| bool tulip_controller_namespace::tulip_controller_class::capture | ( | ) | [private] |
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.
| bool tulip_controller_namespace::tulip_controller_class::getRobotState | ( | gazebo_msgs::GetModelState & | srv_getstate, |
| rpy_prop & | cur_orient_rpy, | ||
| ros::NodeHandle & | n | ||
| ) | [virtual] |
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.
| bool tulip_controller_namespace::tulip_controller_class::init | ( | pr2_mechanism_model::RobotState * | robot, |
| ros::NodeHandle & | n | ||
| ) | [virtual] |
Controller initialization in non-realtime.
Implements pr2_controller_interface::Controller.
Definition at line 62 of file tulip_controller.cpp.
| bool tulip_controller_namespace::tulip_controller_class::setExpState | ( | exp_properties | exp_var, |
| ros::NodeHandle & | n | ||
| ) | [virtual] |
Definition at line 114 of file tulip_controller_functions.cpp.
| void tulip_controller_namespace::tulip_controller_class::starting | ( | ) | [virtual] |
Controller startup in realtime.
Reimplemented from pr2_controller_interface::Controller.
Definition at line 163 of file tulip_controller.cpp.
| void tulip_controller_namespace::tulip_controller_class::stopping | ( | ) | [virtual] |
Controller stopping in realtime.
Reimplemented from pr2_controller_interface::Controller.
Definition at line 241 of file tulip_controller.cpp.
| void tulip_controller_namespace::tulip_controller_class::update | ( | void | ) | [virtual] |
Controller update loop in realtime.
Implements pr2_controller_interface::Controller.
Definition at line 194 of file tulip_controller.cpp.
Member Data Documentation
volatile int tulip_controller_namespace::tulip_controller_class::cycle_index_ [private] |
Definition at line 96 of file tulip_controller.h.
std::vector<exp_properties> tulip_controller_namespace::tulip_controller_class::exp [private] |
Definition at line 162 of file tulip_controller.h.
std::vector<std::string> tulip_controller_namespace::tulip_controller_class::joint_name [private] |
Definition at line 106 of file tulip_controller.h.
std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_current [private] |
Definition at line 104 of file tulip_controller.h.
std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_desired [private] |
Definition at line 103 of file tulip_controller.h.
std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_feedback [private] |
Definition at line 105 of file tulip_controller.h.
std::vector<double> tulip_controller_namespace::tulip_controller_class::joint_pos_init [private] |
Definition at line 102 of file tulip_controller.h.
std::vector<pr2_mechanism_model::JointState*> tulip_controller_namespace::tulip_controller_class::joint_state [private] |
Definition at line 101 of file tulip_controller.h.
Definition at line 93 of file tulip_controller.h.
std::vector<control_toolbox::Pid> tulip_controller_namespace::tulip_controller_class::pid_controller [private] |
Definition at line 97 of file tulip_controller.h.
Definition at line 107 of file tulip_controller.h.
pr2_mechanism_model::RobotState* tulip_controller_namespace::tulip_controller_class::robot_ [private] |
Definition at line 98 of file tulip_controller.h.
tulip_gazebo::joint_state_message tulip_controller_namespace::tulip_controller_class::storage_[StoreLen] [private] |
Definition at line 94 of file tulip_controller.h.
volatile int tulip_controller_namespace::tulip_controller_class::storage_index_ [private] |
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: