#include <srh_joint_variable_pid_position_controller.hpp>

Inheritance diagram for controller::SrhJointVariablePidPositionController:

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)

bool	setGains (sr_robot_msgs::SetPidGains::Request &req, sr_robot_msgs::SetPidGains::Response &resp)

	SrhJointVariablePidPositionController ()

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...

virtual void	updatePid (double, double)

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

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

void	resetJointState ()

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

Private Attributes
double	d_init_

double	error_old_

double	frequency_

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

double	i_clamp_

double	i_init_

double	p_init_
	initial PID parameters More...

boost::scoped_ptr< PlainPid >	pid_controller_position_
	Internal PID controller for the position loop. More...

double	position_deadband_
	the position deadband value used in the hysteresis_deadband More...

double	set_point_old_

double	smoothing_factor_d_

double	smoothing_factor_i_

double	smoothing_factor_p_

double	smoothing_velocity_max_

double	smoothing_velocity_min_

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

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

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)

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 38 of file srh_joint_variable_pid_position_controller.hpp.

Constructor & Destructor Documentation

◆ SrhJointVariablePidPositionController()

controller::SrhJointVariablePidPositionController::SrhJointVariablePidPositionController ( )

Definition at line 47 of file srh_joint_variable_pid_position_controller.cpp.

Member Function Documentation

◆ getGains()

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

virtual

Reimplemented from controller::SrController.

Definition at line 206 of file srh_joint_variable_pid_position_controller.cpp.

◆ init()

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

virtual

Implements controller::SrController.

Definition at line 52 of file srh_joint_variable_pid_position_controller.cpp.

◆ read_parameters()

void controller::SrhJointVariablePidPositionController::read_parameters ( )

private

read all the controller settings from the parameter server

Definition at line 344 of file srh_joint_variable_pid_position_controller.cpp.

◆ resetGains()

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

virtual

Reimplemented from controller::SrController.

Definition at line 186 of file srh_joint_variable_pid_position_controller.cpp.

◆ resetJointState()

void controller::SrhJointVariablePidPositionController::resetJointState ( )

private

Definition at line 360 of file srh_joint_variable_pid_position_controller.cpp.

◆ setCommandCB()

void controller::SrhJointVariablePidPositionController::setCommandCB ( const std_msgs::Float64ConstPtr & msg )

privatevirtual

set the position target from a topic

Reimplemented from controller::SrController.

Definition at line 351 of file srh_joint_variable_pid_position_controller.cpp.

◆ setGains()

bool controller::SrhJointVariablePidPositionController::setGains	(	sr_robot_msgs::SetPidGains::Request &	req,
		sr_robot_msgs::SetPidGains::Response &	resp
	)