JointCommandSeriesElastic Class Reference

#include <JointCommandSeriesElastic.h>

Inheritance diagram for JointCommandSeriesElastic:

List of all members.

Public Member Functions
r2_msgs::JointCapability	getCapability ()
r2_msgs::JointCommand	getCommandedState ()
sensor_msgs::JointState	getCompleteMeasuredState ()
sensor_msgs::JointState	getSimpleMeasuredState ()
	JointCommandSeriesElastic (const std::string &mechanism, IoFunctions ioFunctions)
void	loadCoeffs ()
void	setCommand (r2_msgs::JointCommand msg, r2_msgs::JointControlData)
void	setFaultState ()
void	updateMeasuredState (r2_msgs::JointControlData msg)
virtual	~JointCommandSeriesElastic ()
Protected Attributes
double	backEmfConstant
std::string	brakePwmCommandElement
double	combinedStiffness
double	commandRate
unsigned int	completeMessageSize
double	deltaEncPos
ros::Duration	deltaTime
double	deltaTimeSec
std::string	derivativeGainCommandElement
std::string	desiredPositionCommandElement
std::string	desiredPositionVelocityLimitCommandElement
std::vector< double >	effortVals
std::string	embeddedCommandEffortElement
std::string	embeddedCommandName
std::string	embeddedCommandPositionElement
	embedded command
std::string	embeddedCommandVelocityElement
std::string	encoderCalculatedName
std::string	encoderName
std::string	encoderPositionStatusElement
	encoder status
std::string	encoderRawPositionStatusElement
	encoder calculated
std::string	encoderTimeElement
std::string	encoderTimeoutElement
std::string	encoderVelocityStatusElement
double	encPosRef
std::string	feedForwardTorqueCommandElement
double	gearStiffness
int32_t	hallEncNow
int32_t	hallEncPrev
int32_t	hallEncRef
std::string	hallPositionStatusElement
	halls calculated
double	hallPosRef
std::string	hallRawPositionStatusElement
std::string	hallsCalculatedName
HallsEncoderStateCalculatorPtr	hallsEncoderStateCalculator
std::string	hallTimeElement
std::string	hallTimeoutElement
int32_t	incEncNow
int32_t	incEncPrev
int32_t	incEncRef
std::string	integralGainCommandElement
bool	isInitialized
std::string	jointCalculatedEffortElement
std::string	jointCalculatedName
double	jointGearRatio
double	jointKinematicDirection
double	jointKinematicOffset
std::string	jointPositionFilteredStatusElement
	joint calculated
std::string	jointPositionStatusElement
	joint status
std::string	jointVelocityStatusElement
std::string	motComLimitCommandElement
std::string	motorCurrentElement
MotorEncoderStateCalculatorPtr	motorEncoderStateCalculator
std::string	motorName
std::string	motorPositionFilteredStatusElement
std::string	motorPositionStatusElement
	motor status
std::string	motorVelocityStatusElement
std::string	positionLoopTorqueLimitCommandElement
std::string	positionLoopWindupLimitCommandElement
std::vector< double >	positionVals
std::string	proportionalGainCommandElement
double	springConstant
ros::Time	timeNow
ros::Time	timePrev
std::string	torqueLoopVelocityLimitCommandElement
std::vector< double >	velocityVals

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Detailed Description

Definition at line 14 of file JointCommandSeriesElastic.h.

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Constructor & Destructor Documentation

JointCommandSeriesElastic::JointCommandSeriesElastic	(	const std::string &	mechanism,
		IoFunctions	ioFunctions
	)

Definition at line 8 of file JointCommandSeriesElastic.cpp.

JointCommandSeriesElastic::~JointCommandSeriesElastic

(

)

[virtual]

Definition at line 117 of file JointCommandSeriesElastic.cpp.

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Member Function Documentation

r2_msgs::JointCapability JointCommandSeriesElastic::getCapability

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 539 of file JointCommandSeriesElastic.cpp.

r2_msgs::JointCommand JointCommandSeriesElastic::getCommandedState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 448 of file JointCommandSeriesElastic.cpp.

sensor_msgs::JointState JointCommandSeriesElastic::getCompleteMeasuredState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 433 of file JointCommandSeriesElastic.cpp.

sensor_msgs::JointState JointCommandSeriesElastic::getSimpleMeasuredState

(

)

[virtual]

Implements JointCommandInterface.

Definition at line 422 of file JointCommandSeriesElastic.cpp.

void JointCommandSeriesElastic::loadCoeffs

(

)

[virtual]

Initialize messages

Parse parameter file

Status Elements joint

motor

encoder

jointCalculated

encoderCalculated

hallsCalculated

embeddedCommand

Command Elements

Capability Elements

Set robot limits

Needed to use the constructor version of make_shared because of the number of arguments in EncoderStateCalculator's constructor.

Implements JointCommandInterface.

Definition at line 120 of file JointCommandSeriesElastic.cpp.

void JointCommandSeriesElastic::setCommand	(	r2_msgs::JointCommand	msg,
		r2_msgs::JointControlData
	)		[virtual]

Implements JointCommandInterface.

Definition at line 464 of file JointCommandSeriesElastic.cpp.

void JointCommandSeriesElastic::setFaultState

(

)

Definition at line 444 of file JointCommandSeriesElastic.cpp.

void JointCommandSeriesElastic::updateMeasuredState

(

r2_msgs::JointControlData

msg

)

[virtual]

encoderCalculated and hallsCalculated initialization

joint

motor

jointGearRatio to get into joint space

encoder

jointGearRatio to get into joint space

jointCalculated

APS1 - APS2

encoderCalculated --effort val - replace encoderPositoinStatusElement with positionval (filtered) ???

jointGearRatio to get into joint space

enc - APS2

hallsCalculated

jointGearRatio to get into joint space

embeddedCommand

Implements JointCommandInterface.

Definition at line 358 of file JointCommandSeriesElastic.cpp.

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Member Data Documentation

double JointCommandSeriesElastic::backEmfConstant [protected]

Definition at line 84 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::brakePwmCommandElement [protected]

Definition at line 75 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::combinedStiffness [protected]

Definition at line 80 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::commandRate [protected]

Definition at line 98 of file JointCommandSeriesElastic.h.

unsigned int JointCommandSeriesElastic::completeMessageSize [protected]

Definition at line 112 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::deltaEncPos [protected]

Definition at line 97 of file JointCommandSeriesElastic.h.

ros::Duration JointCommandSeriesElastic::deltaTime [protected]

Definition at line 95 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::deltaTimeSec [protected]

Definition at line 96 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::derivativeGainCommandElement [protected]

Definition at line 70 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::desiredPositionCommandElement [protected]

Definition at line 66 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::desiredPositionVelocityLimitCommandElement [protected]

Definition at line 67 of file JointCommandSeriesElastic.h.

std::vector<double> JointCommandSeriesElastic::effortVals [protected]

Definition at line 109 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::embeddedCommandEffortElement [protected]

Definition at line 64 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::embeddedCommandName [protected]

Definition at line 105 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::embeddedCommandPositionElement [protected]

embedded command

Definition at line 62 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::embeddedCommandVelocityElement [protected]

Definition at line 63 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderCalculatedName [protected]

Definition at line 103 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderName [protected]

Definition at line 101 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderPositionStatusElement [protected]

encoder status

Definition at line 43 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderRawPositionStatusElement [protected]

encoder calculated

Definition at line 51 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderTimeElement [protected]

Definition at line 52 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderTimeoutElement [protected]

Definition at line 53 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::encoderVelocityStatusElement [protected]

Definition at line 44 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::encPosRef [protected]

Definition at line 88 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::feedForwardTorqueCommandElement [protected]

Definition at line 68 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::gearStiffness [protected]

Definition at line 79 of file JointCommandSeriesElastic.h.

int32_t JointCommandSeriesElastic::hallEncNow [protected]

Definition at line 89 of file JointCommandSeriesElastic.h.

int32_t JointCommandSeriesElastic::hallEncPrev [protected]

Definition at line 90 of file JointCommandSeriesElastic.h.

int32_t JointCommandSeriesElastic::hallEncRef [protected]

Definition at line 91 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::hallPositionStatusElement [protected]

halls calculated

Definition at line 56 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::hallPosRef [protected]

Definition at line 92 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::hallRawPositionStatusElement [protected]

Definition at line 57 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::hallsCalculatedName [protected]

Definition at line 104 of file JointCommandSeriesElastic.h.

HallsEncoderStateCalculatorPtr JointCommandSeriesElastic::hallsEncoderStateCalculator [protected]

Definition at line 115 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::hallTimeElement [protected]

Definition at line 58 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::hallTimeoutElement [protected]

Definition at line 59 of file JointCommandSeriesElastic.h.

int32_t JointCommandSeriesElastic::incEncNow [protected]

Definition at line 85 of file JointCommandSeriesElastic.h.

int32_t JointCommandSeriesElastic::incEncPrev [protected]

Definition at line 86 of file JointCommandSeriesElastic.h.

int32_t JointCommandSeriesElastic::incEncRef [protected]

Definition at line 87 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::integralGainCommandElement [protected]

Definition at line 71 of file JointCommandSeriesElastic.h.

bool JointCommandSeriesElastic::isInitialized [protected]

Definition at line 111 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::jointCalculatedEffortElement [protected]

Definition at line 35 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::jointCalculatedName [protected]

Definition at line 102 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::jointGearRatio [protected]

Definition at line 83 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::jointKinematicDirection [protected]

Definition at line 82 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::jointKinematicOffset [protected]

Definition at line 81 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::jointPositionFilteredStatusElement [protected]

joint calculated

Definition at line 47 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::jointPositionStatusElement [protected]

joint status

Definition at line 33 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::jointVelocityStatusElement [protected]

Definition at line 34 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::motComLimitCommandElement [protected]

Definition at line 76 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::motorCurrentElement [protected]

Definition at line 40 of file JointCommandSeriesElastic.h.

MotorEncoderStateCalculatorPtr JointCommandSeriesElastic::motorEncoderStateCalculator [protected]

Definition at line 114 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::motorName [protected]

Definition at line 100 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::motorPositionFilteredStatusElement [protected]

Definition at line 48 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::motorPositionStatusElement [protected]

motor status

Definition at line 38 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::motorVelocityStatusElement [protected]

Definition at line 39 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::positionLoopTorqueLimitCommandElement [protected]

Definition at line 72 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::positionLoopWindupLimitCommandElement [protected]

Definition at line 73 of file JointCommandSeriesElastic.h.

std::vector<double> JointCommandSeriesElastic::positionVals [protected]

Definition at line 107 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::proportionalGainCommandElement [protected]

Definition at line 69 of file JointCommandSeriesElastic.h.

double JointCommandSeriesElastic::springConstant [protected]

Definition at line 78 of file JointCommandSeriesElastic.h.

ros::Time JointCommandSeriesElastic::timeNow [protected]

Definition at line 93 of file JointCommandSeriesElastic.h.

ros::Time JointCommandSeriesElastic::timePrev [protected]

Definition at line 94 of file JointCommandSeriesElastic.h.

std::string JointCommandSeriesElastic::torqueLoopVelocityLimitCommandElement [protected]

Definition at line 74 of file JointCommandSeriesElastic.h.

std::vector<double> JointCommandSeriesElastic::velocityVals [protected]

Definition at line 108 of file JointCommandSeriesElastic.h.

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

• JointCommandSeriesElastic.h
• JointCommandSeriesElastic.cpp