#include <srh_joint_muscle_valve_controller.hpp>

Inheritance diagram for controller::SrhJointMuscleValveController:

Public Member Functions
virtual void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)

bool	init (ros_ethercat_model::RobotStateInterface *robot, ros::NodeHandle &n)

virtual bool	resetGains (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)

	SrhJointMuscleValveController ()

virtual void	starting (const ros::Time &time)

virtual void	update (const ros::Time &time, const ros::Duration &period)
	Issues commands to the joint. Should be called at regular intervals. More...

Public Member Functions inherited from controller::SrController
std::string	getJointName ()

	SrController ()

virtual	~SrController ()

Public Member Functions inherited from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >
virtual bool	init (T *, ros::NodeHandle &)

virtual bool	init (T *, ros::NodeHandle &, ros::NodeHandle &)

Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)

virtual void	aborting (const ros::Time &)

bool	abortRequest (const ros::Time &time)

bool	abortRequest (const ros::Time &time)

	ControllerBase ()=default

	ControllerBase (const ControllerBase &)=delete

	ControllerBase (ControllerBase &&)=delete

bool	isAborted () const

bool	isAborted () const

bool	isInitialized () const

bool	isInitialized () const

bool	isRunning () const

bool	isRunning () const

bool	isStopped () const

bool	isStopped () const

bool	isWaiting () const

bool	isWaiting () const

ControllerBase &	operator= (const ControllerBase &)=delete

ControllerBase &	operator= (ControllerBase &&)=delete

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

virtual void	stopping (const ros::Time &)

virtual void	stopping (const ros::Time &)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual void	waiting (const ros::Time &)

virtual void	waiting (const ros::Time &)

bool	waitRequest (const ros::Time &time)

bool	waitRequest (const ros::Time &time)

virtual	~ControllerBase ()=default

Public Attributes
unsigned int	cmd_duration_ms_ [2]

int8_t	cmd_valve_muscle_ [2]

int8_t	cmd_valve_muscle_max_

int8_t	cmd_valve_muscle_min_

unsigned int	current_duration_ms_ [2]

Public Attributes inherited from controller::SrController
double	command_

bool	has_j2

ros_ethercat_model::JointState *	joint_state_

ros_ethercat_model::JointState *	joint_state_2

Public Attributes inherited from controller_interface::ControllerBase
	ABORTED

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

	STOPPED

	WAITING

Private Member Functions
int8_t	clamp_command (int8_t cmd)
	enforce that the value of the received command is in the allowed range More...

void	read_parameters ()
	read all the controller settings from the parameter server More...

void	setCommandCB (const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr &msg)

Private Attributes
boost::shared_ptr< realtime_tools::RealtimePublisher< sr_robot_msgs::JointMuscleValveControllerState > >	controller_state_publisher_

ros::Subscriber	sub_command_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Protected Member Functions inherited from controller::SrController
void	after_init ()
	call this function at the end of the init function in the inheriting classes. More...

double	clamp_command (double cmd, double min_cmd, double max_cmd)

virtual double	clamp_command (double cmd)

void	get_joints_states_1_2 ()

void	get_min_max (urdf::Model model, std::string joint_name)

bool	is_joint_0 ()

void	maxForceFactorCB (const std_msgs::Float64ConstPtr &msg)

virtual void	setCommandCB (const std_msgs::Float64ConstPtr &msg)
	set the command from a topic More...

Protected Member Functions inherited from controller_interface::Controller< ros_ethercat_model::RobotStateInterface >
std::string	getHardwareInterfaceType () const

bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override

Protected Attributes inherited from controller::SrController
boost::scoped_ptr< realtime_tools::RealtimePublisher< control_msgs::JointControllerState > >	controller_state_publisher_

double	eff_max_

double	eff_min_
	Min and max range of the effort, used to clamp the command. More...

boost::scoped_ptr< sr_friction_compensation::SrFrictionCompensator >	friction_compensator

int	friction_deadband
	the deadband for the friction compensation algorithm More...

sr_deadband::HysteresisDeadband< double >	hysteresis_deadband
	We're using an hysteresis deadband. More...

bool	initialized_

std::string	joint_name_

int	loop_count_

double	max_

double	max_force_demand
	clamps the force demand to this value More...

double	max_force_factor_

double	min_
	Min and max range of the joint, used to clamp the command. More...

ros::NodeHandle	n_tilde_

ros::NodeHandle	node_

ros_ethercat_model::RobotState *	robot_

ros::ServiceServer	serve_reset_gains_

ros::ServiceServer	serve_set_gains_

ros::Subscriber	sub_command_

ros::Subscriber	sub_max_force_factor_

double	vel_max_

double	vel_min_
	Min and max range of the velocity, used to clamp the command. More...

Detailed Description

Definition at line 39 of file srh_joint_muscle_valve_controller.hpp.

Constructor & Destructor Documentation

◆ SrhJointMuscleValveController()

controller::SrhJointMuscleValveController::SrhJointMuscleValveController ( )

Definition at line 44 of file srh_joint_muscle_valve_controller.cpp.

Member Function Documentation

◆ clamp_command()

int8_t controller::SrhJointMuscleValveController::clamp_command ( int8_t cmd )

private

enforce that the value of the received command is in the allowed range

Definition at line 327 of file srh_joint_muscle_valve_controller.cpp.

◆ getGains()

void controller::SrhJointMuscleValveController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

virtual

Reimplemented from controller::SrController.

Definition at line 149 of file srh_joint_muscle_valve_controller.cpp.

◆ init()

bool controller::SrhJointMuscleValveController::init	(	ros_ethercat_model::RobotStateInterface *	robot,
		ros::NodeHandle &	n
	)

virtual

Implements controller::SrController.

Definition at line 50 of file srh_joint_muscle_valve_controller.cpp.

◆ read_parameters()

void controller::SrhJointMuscleValveController::read_parameters ( )

private

read all the controller settings from the parameter server

Definition at line 309 of file srh_joint_muscle_valve_controller.cpp.

◆ resetGains()

bool controller::SrhJointMuscleValveController::resetGains	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)

virtual

Reimplemented from controller::SrController.

Definition at line 134 of file srh_joint_muscle_valve_controller.cpp.

◆ setCommandCB()

void controller::SrhJointMuscleValveController::setCommandCB ( const sr_robot_msgs::JointMuscleValveControllerCommandConstPtr & msg )

private

Definition at line 313 of file srh_joint_muscle_valve_controller.cpp.

◆ starting()

void controller::SrhJointMuscleValveController::starting ( const ros::Time & time )

virtual

Reimplemented from controller::SrController.

Definition at line 128 of file srh_joint_muscle_valve_controller.cpp.

◆ update()

void controller::SrhJointMuscleValveController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

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

Implements controller::SrController.

Definition at line 153 of file srh_joint_muscle_valve_controller.cpp.

Member Data Documentation

◆ cmd_duration_ms_

unsigned int controller::SrhJointMuscleValveController::cmd_duration_ms_[2]

Last duration commanded for the valve command for each muscle.

Definition at line 60 of file srh_joint_muscle_valve_controller.hpp.

◆ cmd_valve_muscle_

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_[2]

Last commanded valve values for each muscle.

Definition at line 58 of file srh_joint_muscle_valve_controller.hpp.

◆ cmd_valve_muscle_max_

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_max_

Definition at line 65 of file srh_joint_muscle_valve_controller.hpp.

◆ cmd_valve_muscle_min_

int8_t controller::SrhJointMuscleValveController::cmd_valve_muscle_min_

Definition at line 64 of file srh_joint_muscle_valve_controller.hpp.

◆ controller_state_publisher_

boost::shared_ptr<realtime_tools::RealtimePublisher <sr_robot_msgs::JointMuscleValveControllerState> > controller::SrhJointMuscleValveController::controller_state_publisher_

private

Definition at line 70 of file srh_joint_muscle_valve_controller.hpp.

◆ current_duration_ms_

unsigned int controller::SrhJointMuscleValveController::current_duration_ms_[2]

Definition at line 62 of file srh_joint_muscle_valve_controller.hpp.

◆ sub_command_

ros::Subscriber controller::SrhJointMuscleValveController::sub_command_

private

Definition at line 72 of file srh_joint_muscle_valve_controller.hpp.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SrhJointMuscleValveController()

Member Function Documentation

◆ clamp_command()

◆ getGains()

◆ init()

◆ read_parameters()

◆ resetGains()

◆ setCommandCB()

◆ starting()

◆ update()

Member Data Documentation

◆ cmd_duration_ms_

◆ cmd_valve_muscle_

◆ cmd_valve_muscle_max_

◆ cmd_valve_muscle_min_

◆ controller_state_publisher_

◆ current_duration_ms_

◆ sub_command_