Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop. More...

#include <hardware_interface_adapter.h>

Public Member Functions
	HardwareInterfaceAdapter ()

bool	init (hardware_interface::JointHandle &joint_handle, ros::NodeHandle &controller_nh)

void	starting (const ros::Time &time)

void	stopping (const ros::Time &time)

double	updateCommand (const ros::Time &, const ros::Duration &period, double desired_position, double desired_velocity, double error_position, double error_velocity, double max_allowed_effort)

Private Types
typedef boost::shared_ptr< control_toolbox::Pid >	PidPtr

Private Attributes
hardware_interface::JointHandle *	joint_handle_ptr_

PidPtr	pid_

Detailed Description

template<>
class HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >

Adapter for an effort-controlled hardware interface. Maps position and velocity errors to effort commands through a position PID loop.

The following is an example configuration of a controller that uses this adapter. Notice the gains entry:

gripper_controller:
  type: "gripper_action_controller/GripperActionController"
  joints: gripper_joint
  goal_tolerance: 0.01
  stalled_velocity_threshold: 0.01
  stall_timeout: 0.2
  gains:
    gripper_joint: {p: 200, d: 1, i: 5, i_clamp: 1}

Definition at line 129 of file hardware_interface_adapter.h.

Member Typedef Documentation

typedef boost::shared_ptr<control_toolbox::Pid> HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::PidPtr

private

Definition at line 185 of file hardware_interface_adapter.h.

Constructor & Destructor Documentation

HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::HardwareInterfaceAdapter ( )

inline

Definition at line 132 of file hardware_interface_adapter.h.

Member Function Documentation

bool HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::init	(	hardware_interface::JointHandle &	joint_handle,
		ros::NodeHandle &	controller_nh
	)

inline

Definition at line 134 of file hardware_interface_adapter.h.

void HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::starting ( const ros::Time & time )

inline

Definition at line 153 of file hardware_interface_adapter.h.

void HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::stopping ( const ros::Time & time )

inline

Definition at line 164 of file hardware_interface_adapter.h.

double HardwareInterfaceAdapter< hardware_interface::EffortJointInterface >::updateCommand	(	const ros::Time &	,
		const ros::Duration &	period,
		double	desired_position,
		double	desired_velocity,
		double	error_position,
		double	error_velocity,
		double	max_allowed_effort
	)