#include <srh_mixed_position_velocity_controller.hpp>

Inheritance diagram for controller::SrhMixedPositionVelocityJointController:

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

virtual void	getGains_velocity (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::SetMixedPositionVelocityPidGains::Request &req, sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &resp)

	SrhMixedPositionVelocityJointController ()

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

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
boost::scoped_ptr< realtime_tools::RealtimePublisher< sr_robot_msgs::JointControllerState > >	controller_state_publisher_

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

double	maintained_command_

double	max_velocity_
	The values for the velocity demand saturation. More...

double	min_velocity_

int	motor_min_force_threshold
	smallest demand we can send to the motors More...

bool	override_to_current_effort_
	Override commanded_effort to current effort when in deadband. More...

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

boost::scoped_ptr< control_toolbox::Pid >	pid_controller_velocity_
	Internal PID controller for the velocity loop. More...

double	position_deadband
	the deadband on the position demand More...

bool	prev_in_deadband_
	Stores if was previously in the deadband. More...

ros::ServiceServer	serve_set_gains_

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 39 of file srh_mixed_position_velocity_controller.hpp.

Constructor & Destructor Documentation

◆ SrhMixedPositionVelocityJointController()

controller::SrhMixedPositionVelocityJointController::SrhMixedPositionVelocityJointController ( )

Definition at line 49 of file srh_mixed_position_velocity_controller.cpp.

Member Function Documentation

◆ getGains()

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

virtual

Reimplemented from controller::SrController.

Definition at line 248 of file srh_mixed_position_velocity_controller.cpp.

◆ getGains_velocity()

void controller::SrhMixedPositionVelocityJointController::getGains_velocity	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

virtual

Definition at line 253 of file srh_mixed_position_velocity_controller.cpp.

◆ init()

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

virtual

Implements controller::SrController.

Definition at line 56 of file srh_mixed_position_velocity_controller.cpp.

◆ read_parameters()

void controller::SrhMixedPositionVelocityJointController::read_parameters ( )

private

read all the controller settings from the parameter server

Definition at line 432 of file srh_mixed_position_velocity_controller.cpp.

◆ resetGains()

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

virtual

Reimplemented from controller::SrController.

Definition at line 222 of file srh_mixed_position_velocity_controller.cpp.

◆ resetJointState()

void controller::SrhMixedPositionVelocityJointController::resetJointState ( )

private

Definition at line 455 of file srh_mixed_position_velocity_controller.cpp.

◆ setCommandCB()

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

privatevirtual

set the position target from a topic

Reimplemented from controller::SrController.

Definition at line 446 of file srh_mixed_position_velocity_controller.cpp.

◆ setGains()

bool controller::SrhMixedPositionVelocityJointController::setGains	(	sr_robot_msgs::SetMixedPositionVelocityPidGains::Request &	req,
		sr_robot_msgs::SetMixedPositionVelocityPidGains::Response &	resp
	)

Definition at line 170 of file srh_mixed_position_velocity_controller.cpp.

◆ starting()

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

virtual

Reimplemented from controller::SrController.

Definition at line 156 of file srh_mixed_position_velocity_controller.cpp.

◆ update()

void controller::SrhMixedPositionVelocityJointController::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 259 of file srh_mixed_position_velocity_controller.cpp.

Member Data Documentation

◆ controller_state_publisher_

boost::scoped_ptr<realtime_tools::RealtimePublisher <sr_robot_msgs::JointControllerState> > controller::SrhMixedPositionVelocityJointController::controller_state_publisher_

private

Definition at line 71 of file srh_mixed_position_velocity_controller.hpp.

◆ hysteresis_deadband

sr_deadband::HysteresisDeadband<double> controller::SrhMixedPositionVelocityJointController::hysteresis_deadband

private

We're using an hysteresis deadband.

Definition at line 91 of file srh_mixed_position_velocity_controller.hpp.

◆ maintained_command_

double controller::SrhMixedPositionVelocityJointController::maintained_command_

private

Definition at line 78 of file srh_mixed_position_velocity_controller.hpp.

◆ max_velocity_

double controller::SrhMixedPositionVelocityJointController::max_velocity_

private

The values for the velocity demand saturation.

Definition at line 74 of file srh_mixed_position_velocity_controller.hpp.

◆ min_velocity_

double controller::SrhMixedPositionVelocityJointController::min_velocity_

private

Definition at line 74 of file srh_mixed_position_velocity_controller.hpp.

◆ motor_min_force_threshold

int controller::SrhMixedPositionVelocityJointController::motor_min_force_threshold

private

smallest demand we can send to the motors

Definition at line 97 of file srh_mixed_position_velocity_controller.hpp.

◆ override_to_current_effort_

bool controller::SrhMixedPositionVelocityJointController::override_to_current_effort_

private

Override commanded_effort to current effort when in deadband.

Definition at line 80 of file srh_mixed_position_velocity_controller.hpp.

◆ pid_controller_position_

boost::scoped_ptr<control_toolbox::Pid> controller::SrhMixedPositionVelocityJointController::pid_controller_position_

private

Internal PID controller for the position loop.

Definition at line 65 of file srh_mixed_position_velocity_controller.hpp.

◆ pid_controller_velocity_

boost::scoped_ptr<control_toolbox::Pid> controller::SrhMixedPositionVelocityJointController::pid_controller_velocity_

private

Internal PID controller for the velocity loop.

Definition at line 67 of file srh_mixed_position_velocity_controller.hpp.

◆ position_deadband

double controller::SrhMixedPositionVelocityJointController::position_deadband

private

the deadband on the position demand

Definition at line 88 of file srh_mixed_position_velocity_controller.hpp.

◆ prev_in_deadband_

bool controller::SrhMixedPositionVelocityJointController::prev_in_deadband_

private

Stores if was previously in the deadband.

Definition at line 77 of file srh_mixed_position_velocity_controller.hpp.

◆ serve_set_gains_

ros::ServiceServer controller::SrhMixedPositionVelocityJointController::serve_set_gains_

private

Definition at line 85 of file srh_mixed_position_velocity_controller.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SrhMixedPositionVelocityJointController()

Member Function Documentation

◆ getGains()

◆ getGains_velocity()

◆ init()

◆ read_parameters()

◆ resetGains()

◆ resetJointState()

◆ setCommandCB()

◆ setGains()

◆ starting()

◆ update()

Member Data Documentation

◆ controller_state_publisher_

◆ hysteresis_deadband

◆ maintained_command_

◆ max_velocity_

◆ min_velocity_

◆ motor_min_force_threshold

◆ override_to_current_effort_

◆ pid_controller_position_

◆ pid_controller_velocity_

◆ position_deadband

◆ prev_in_deadband_

◆ serve_set_gains_