joint_position_controller.h
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00036 
00037 /*
00038  Author: Dave Coleman
00039  Contributors: Jonathan Bohren, Wim Meeussen, Vijay Pradeep
00040  Desc: Velocity-based position controller using basic PID loop
00041 */
00042 
00043 #ifndef VELOCITY_CONTROLLERS__JOINT_POSITION_CONTROLLER_H
00044 #define VELOCITY_CONTROLLERS__JOINT_POSITION_CONTROLLER_H
00045 
00069 #include <ros/node_handle.h>
00070 #include <urdf/model.h>
00071 #include <control_toolbox/pid.h>
00072 #include <boost/scoped_ptr.hpp>
00073 #include <boost/thread/condition.hpp>
00074 #include <realtime_tools/realtime_publisher.h>
00075 #include <hardware_interface/joint_command_interface.h>
00076 #include <controller_interface/controller.h>
00077 #include <control_msgs/JointControllerState.h>
00078 #include <std_msgs/Float64.h>
00079 #include <control_msgs/JointControllerState.h>
00080 #include <realtime_tools/realtime_buffer.h>
00081 
00082 namespace velocity_controllers
00083 {
00084 
00085 class JointPositionController: public controller_interface::Controller<hardware_interface::VelocityJointInterface>
00086 {
00087 public:
00088 
00092   struct Commands
00093   {
00094     double position_; // Last commanded position
00095     double velocity_; // Last commanded velocity
00096     bool has_velocity_; // false if no velocity command has been specified
00097   };
00098 
00099   JointPositionController();
00100   ~JointPositionController();
00101 
00115   bool init(hardware_interface::VelocityJointInterface *robot, ros::NodeHandle &n);
00116 
00122   void setCommand(double pos_target);
00123 
00131   void setCommand(double pos_target, double vel_target);
00132 
00138   void starting(const ros::Time& time);
00139   
00143   void update(const ros::Time& time, const ros::Duration& period);
00144 
00148   void getGains(double &p, double &i, double &d, double &i_max, double &i_min);
00149 
00153   void printDebug();
00154 
00158   void setGains(const double &p, const double &i, const double &d, const double &i_max, const double &i_min);
00159 
00163   std::string getJointName();
00164 
00169   double getPosition();
00170 
00171   hardware_interface::JointHandle joint_;
00172   boost::shared_ptr<const urdf::Joint> joint_urdf_;
00173   realtime_tools::RealtimeBuffer<Commands> command_;
00174   Commands command_struct_; // pre-allocated memory that is re-used to set the realtime buffer
00175 
00176 private:
00177   int loop_count_;
00178   control_toolbox::Pid pid_controller_;       
00180   boost::scoped_ptr<
00181     realtime_tools::RealtimePublisher<
00182       control_msgs::JointControllerState> > controller_state_publisher_ ;
00183 
00184   ros::Subscriber sub_command_;
00185 
00189   void setCommandCB(const std_msgs::Float64ConstPtr& msg);
00190 
00196   void enforceJointLimits(double &command);
00197 
00198 };
00199 
00200 } // namespace
00201 
00202 #endif


velocity_controllers
Author(s): Vijay Pradeep
autogenerated on Thu Jun 6 2019 18:59:06