#include <pr2_base_controller.h>

Inheritance diagram for controller::Pr2BaseController:

Public Member Functions
geometry_msgs::Twist	getCommand ()
	Returns the current position command. More...

bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)

	Pr2BaseController ()
	Default Constructor of the Pr2BaseController class. More...

void	setCommand (const geometry_msgs::Twist &cmd_vel)

void	setDesiredCasterSteer ()
	set the desired caster steer More...

void	setJointCommands ()
	set the joint commands More...

void	starting ()

void	update ()
	(a) Updates commands to caster and wheels. Called every timestep in realtime More...

	~Pr2BaseController ()
	Destructor of the Pr2BaseController class. More...

Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()

bool	getController (const std::string &name, int sched, ControllerType *&c)

bool	initRequest (ControllerProvider cp, pr2_mechanism_model::RobotState robot, ros::NodeHandle &n)

bool	isRunning ()

void	starting (const ros::Time &time)

bool	startRequest ()

virtual void	stopping ()

void	stopping (const ros::Time &time)

bool	stopRequest ()

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

void	updateRequest ()

virtual	~Controller ()

Public Attributes
BaseKinematics	base_kin_
	class where the robot's information is computed and stored More...

pthread_mutex_t	pr2_base_controller_lock_
	mutex lock for setting and getting commands More...

Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_

	AFTER_ME

std::vector< std::string >	before_list_

	BEFORE_ME

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum pr2_controller_interface::Controller:: { ... }	state_

Private Member Functions
void	commandCallback (const geometry_msgs::TwistConstPtr &msg)
	deal with Twist commands More...

void	computeDesiredCasterSteer (const double &dT)
	computes the desired caster speeds given the desired base speed More...

void	computeDesiredWheelSpeeds ()
	computes the desired wheel speeds given the desired base speed More...

void	computeJointCommands (const double &dT)
	computes the desired caster steers and wheel speeds More...

geometry_msgs::Twist	interpolateCommand (const geometry_msgs::Twist &start, const geometry_msgs::Twist &end, const geometry_msgs::Twist &max_rate, const double &dT)
	interpolates velocities within a given time based on maximum accelerations More...

void	publishState (const ros::Time &current_time)
	Publish the state. More...

void	setDesiredWheelSpeeds ()
	sends the desired wheel speeds to the wheel controllers More...

void	updateJointControllers ()
	tells the wheel and caster controllers to update their speeds More...

Private Attributes
double	alpha_stall_
	low pass filter value used for finding stalls More...

geometry_msgs::Twist	base_vel_msg_
	callback message, used to remember where the base is commanded to go More...

std::vector< boost::shared_ptr< JointVelocityController > >	caster_controller_
	vector that stores the caster controllers More...

std::vector< control_toolbox::Pid >	caster_position_pid_
	The pid controllers for caster position. More...

filters::MultiChannelTransferFunctionFilter< double >	caster_vel_filter_

ros::Time	cmd_received_timestamp_
	timestamp corresponding to when the command received by the node More...

ros::Subscriber	cmd_sub_

ros::Subscriber	cmd_sub_deprecated_

geometry_msgs::Twist	cmd_vel_
	speed command vector used internally to represent the current commanded speed More...

double	cmd_vel_rot_eps_
	minimum rotational velocity value allowable More...

geometry_msgs::Twist	cmd_vel_t_
	Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller. More...

double	cmd_vel_trans_eps_
	minimum tranlational velocity value allowable More...

geometry_msgs::Twist	desired_vel_
	Input speed command vector represents the desired speed requested by the node. More...

double	eps_
	generic epsilon value that is used as a minimum or maximum allowable input value More...

std::vector< double >	filtered_velocity_

double	kp_caster_steer_
	local gain used for speed control of the caster (to achieve resultant position control) More...

ros::Time	last_publish_time_
	Time interval between state publishing. More...

ros::Time	last_time_
	time corresponding to when update was last called More...

geometry_msgs::Twist	max_accel_
	acceleration limits specified externally More...

double	max_rotational_velocity_
	maximum rotational velocity magnitude allowable More...

double	max_translational_velocity_
	maximum translational velocity magnitude allowable More...

geometry_msgs::Twist	max_vel_
	velocity limits specified externally More...

bool	new_cmd_available_
	true when new command received by node More...

ros::NodeHandle	node_

bool	publish_state_

ros::NodeHandle	root_handle_

double	state_publish_rate_

double	state_publish_time_
	Time interval between state publishing. More...

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_mechanism_controllers::BaseControllerState > >	state_publisher_
	publishes information about the caster and wheel controllers More...

double	timeout_
	timeout specifying time that the controller waits before setting the current velocity command to zero More...

std::vector< boost::shared_ptr< JointVelocityController > >	wheel_controller_
	vector that stores the wheel controllers More...

Detailed Description

Definition at line 86 of file pr2_base_controller.h.

Constructor & Destructor Documentation

◆ Pr2BaseController()

controller::Pr2BaseController::Pr2BaseController ( )

Default Constructor of the Pr2BaseController class.

Definition at line 79 of file pr2_base_controller.cpp.

◆ ~Pr2BaseController()

controller::Pr2BaseController::~Pr2BaseController ( )

Destructor of the Pr2BaseController class.

Definition at line 100 of file pr2_base_controller.cpp.

Member Function Documentation

◆ commandCallback()

void controller::Pr2BaseController::commandCallback ( const geometry_msgs::TwistConstPtr & msg )

private

deal with Twist commands

Definition at line 506 of file pr2_base_controller.cpp.

◆ computeDesiredCasterSteer()

void controller::Pr2BaseController::computeDesiredCasterSteer ( const double & dT )

private

computes the desired caster speeds given the desired base speed

Definition at line 405 of file pr2_base_controller.cpp.

◆ computeDesiredWheelSpeeds()

void controller::Pr2BaseController::computeDesiredWheelSpeeds ( )

private

computes the desired wheel speeds given the desired base speed

Definition at line 461 of file pr2_base_controller.cpp.

◆ computeJointCommands()

void controller::Pr2BaseController::computeJointCommands ( const double & dT )

private

computes the desired caster steers and wheel speeds

Definition at line 389 of file pr2_base_controller.cpp.

◆ getCommand()

geometry_msgs::Twist controller::Pr2BaseController::getCommand ( )

Returns the current position command.

Returns: Current velocity command

Definition at line 285 of file pr2_base_controller.cpp.

◆ init()

bool controller::Pr2BaseController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

virtual

Implements pr2_controller_interface::Controller.

Definition at line 106 of file pr2_base_controller.cpp.

◆ interpolateCommand()

geometry_msgs::Twist controller::Pr2BaseController::interpolateCommand	(	const geometry_msgs::Twist &	start,
		const geometry_msgs::Twist &	end,
		const geometry_msgs::Twist &	max_rate,
		const double &	dT
	)

private

interpolates velocities within a given time based on maximum accelerations

Definition at line 246 of file pr2_base_controller.cpp.

◆ publishState()

void controller::Pr2BaseController::publishState ( const ros::Time & current_time )

private

Publish the state.

Definition at line 349 of file pr2_base_controller.cpp.

◆ setCommand()

void controller::Pr2BaseController::setCommand ( const geometry_msgs::Twist & cmd_vel )

Definition at line 213 of file pr2_base_controller.cpp.

◆ setDesiredCasterSteer()

void controller::Pr2BaseController::setDesiredCasterSteer ( )

set the desired caster steer

Definition at line 453 of file pr2_base_controller.cpp.

◆ setDesiredWheelSpeeds()

void controller::Pr2BaseController::setDesiredWheelSpeeds ( )

private

sends the desired wheel speeds to the wheel controllers

Definition at line 490 of file pr2_base_controller.cpp.

◆ setJointCommands()

void controller::Pr2BaseController::setJointCommands ( )

set the joint commands

Definition at line 398 of file pr2_base_controller.cpp.

◆ starting()

void controller::Pr2BaseController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 296 of file pr2_base_controller.cpp.

◆ update()

void controller::Pr2BaseController::update ( )

virtual

(a) Updates commands to caster and wheels. Called every timestep in realtime

Implements pr2_controller_interface::Controller.

Definition at line 310 of file pr2_base_controller.cpp.

◆ updateJointControllers()

void controller::Pr2BaseController::updateJointControllers ( )

private

tells the wheel and caster controllers to update their speeds

Definition at line 498 of file pr2_base_controller.cpp.

Member Data Documentation

◆ alpha_stall_

double controller::Pr2BaseController::alpha_stall_

private

low pass filter value used for finding stalls

Definition at line 223 of file pr2_base_controller.h.

◆ base_kin_

BaseKinematics controller::Pr2BaseController::base_kin_

class where the robot's information is computed and stored

Returns: BaseKinematic instance that is being used by this controller

Definition at line 126 of file pr2_base_controller.h.

◆ base_vel_msg_

geometry_msgs::Twist controller::Pr2BaseController::base_vel_msg_

private

callback message, used to remember where the base is commanded to go

Definition at line 278 of file pr2_base_controller.h.

◆ caster_controller_

std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController::caster_controller_

private

vector that stores the caster controllers

Definition at line 233 of file pr2_base_controller.h.

◆ caster_position_pid_

std::vector<control_toolbox::Pid> controller::Pr2BaseController::caster_position_pid_

private

The pid controllers for caster position.

Definition at line 316 of file pr2_base_controller.h.

◆ caster_vel_filter_

filters::MultiChannelTransferFunctionFilter<double> controller::Pr2BaseController::caster_vel_filter_

private

Definition at line 318 of file pr2_base_controller.h.

◆ cmd_received_timestamp_

ros::Time controller::Pr2BaseController::cmd_received_timestamp_

private

timestamp corresponding to when the command received by the node

Definition at line 177 of file pr2_base_controller.h.

◆ cmd_sub_

ros::Subscriber controller::Pr2BaseController::cmd_sub_

private

Definition at line 155 of file pr2_base_controller.h.

◆ cmd_sub_deprecated_

ros::Subscriber controller::Pr2BaseController::cmd_sub_deprecated_

private

Definition at line 157 of file pr2_base_controller.h.

◆ cmd_vel_

geometry_msgs::Twist controller::Pr2BaseController::cmd_vel_

private

speed command vector used internally to represent the current commanded speed

Definition at line 188 of file pr2_base_controller.h.

◆ cmd_vel_rot_eps_

double controller::Pr2BaseController::cmd_vel_rot_eps_

private

minimum rotational velocity value allowable

Definition at line 288 of file pr2_base_controller.h.

◆ cmd_vel_t_

geometry_msgs::Twist controller::Pr2BaseController::cmd_vel_t_

private

Input speed command vector represents the desired speed requested by the node. Note that this may differ from the current commanded speed due to acceleration limits imposed by the controller.

Definition at line 183 of file pr2_base_controller.h.

◆ cmd_vel_trans_eps_

double controller::Pr2BaseController::cmd_vel_trans_eps_

private

minimum tranlational velocity value allowable

Definition at line 303 of file pr2_base_controller.h.

◆ desired_vel_

geometry_msgs::Twist controller::Pr2BaseController::desired_vel_

private

Input speed command vector represents the desired speed requested by the node.

Definition at line 193 of file pr2_base_controller.h.

◆ eps_

double controller::Pr2BaseController::eps_

private

generic epsilon value that is used as a minimum or maximum allowable input value

Definition at line 283 of file pr2_base_controller.h.

◆ filtered_velocity_

std::vector<double> controller::Pr2BaseController::filtered_velocity_

private

Definition at line 320 of file pr2_base_controller.h.

◆ kp_caster_steer_

double controller::Pr2BaseController::kp_caster_steer_

private

local gain used for speed control of the caster (to achieve resultant position control)

Definition at line 218 of file pr2_base_controller.h.

◆ last_publish_time_

ros::Time controller::Pr2BaseController::last_publish_time_

private

Time interval between state publishing.

Definition at line 298 of file pr2_base_controller.h.

◆ last_time_

ros::Time controller::Pr2BaseController::last_time_

private

time corresponding to when update was last called

Definition at line 172 of file pr2_base_controller.h.

◆ max_accel_

geometry_msgs::Twist controller::Pr2BaseController::max_accel_

private

acceleration limits specified externally

Definition at line 203 of file pr2_base_controller.h.

◆ max_rotational_velocity_

double controller::Pr2BaseController::max_rotational_velocity_

private

maximum rotational velocity magnitude allowable

Definition at line 213 of file pr2_base_controller.h.

◆ max_translational_velocity_

double controller::Pr2BaseController::max_translational_velocity_

private

maximum translational velocity magnitude allowable

Definition at line 208 of file pr2_base_controller.h.

◆ max_vel_

geometry_msgs::Twist controller::Pr2BaseController::max_vel_

private

velocity limits specified externally

Definition at line 198 of file pr2_base_controller.h.

◆ new_cmd_available_

bool controller::Pr2BaseController::new_cmd_available_

private

true when new command received by node

Definition at line 167 of file pr2_base_controller.h.

◆ node_

ros::NodeHandle controller::Pr2BaseController::node_

private

Definition at line 151 of file pr2_base_controller.h.

◆ pr2_base_controller_lock_

pthread_mutex_t controller::Pr2BaseController::pr2_base_controller_lock_

mutex lock for setting and getting commands

Definition at line 131 of file pr2_base_controller.h.

◆ publish_state_

bool controller::Pr2BaseController::publish_state_

private

Definition at line 311 of file pr2_base_controller.h.

◆ root_handle_

ros::NodeHandle controller::Pr2BaseController::root_handle_

private

Definition at line 153 of file pr2_base_controller.h.

◆ state_publish_rate_

double controller::Pr2BaseController::state_publish_rate_

private

Definition at line 293 of file pr2_base_controller.h.

◆ state_publish_time_

double controller::Pr2BaseController::state_publish_time_

private

Time interval between state publishing.

Definition at line 293 of file pr2_base_controller.h.

◆ state_publisher_

boost::scoped_ptr<realtime_tools::RealtimePublisher<pr2_mechanism_controllers::BaseControllerState> > controller::Pr2BaseController::state_publisher_

private

publishes information about the caster and wheel controllers

Definition at line 238 of file pr2_base_controller.h.

◆ timeout_

double controller::Pr2BaseController::timeout_

private

timeout specifying time that the controller waits before setting the current velocity command to zero

Definition at line 162 of file pr2_base_controller.h.

◆ wheel_controller_

std::vector<boost::shared_ptr<JointVelocityController> > controller::Pr2BaseController::wheel_controller_

private

vector that stores the wheel controllers

Definition at line 228 of file pr2_base_controller.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Pr2BaseController()

◆ ~Pr2BaseController()

Member Function Documentation

◆ commandCallback()

◆ computeDesiredCasterSteer()

◆ computeDesiredWheelSpeeds()

◆ computeJointCommands()

◆ getCommand()

◆ init()

◆ interpolateCommand()

◆ publishState()

◆ setCommand()

◆ setDesiredCasterSteer()

◆ setDesiredWheelSpeeds()

◆ setJointCommands()

◆ starting()

◆ update()

◆ updateJointControllers()

Member Data Documentation

◆ alpha_stall_

◆ base_kin_

◆ base_vel_msg_

◆ caster_controller_

◆ caster_position_pid_

◆ caster_vel_filter_

◆ cmd_received_timestamp_

◆ cmd_sub_

◆ cmd_sub_deprecated_

◆ cmd_vel_

◆ cmd_vel_rot_eps_

◆ cmd_vel_t_

◆ cmd_vel_trans_eps_

◆ desired_vel_

◆ eps_

◆ filtered_velocity_

◆ kp_caster_steer_

◆ last_publish_time_

◆ last_time_

◆ max_accel_

◆ max_rotational_velocity_

◆ max_translational_velocity_

◆ max_vel_

◆ new_cmd_available_

◆ node_

◆ pr2_base_controller_lock_

◆ publish_state_

◆ root_handle_

◆ state_publish_rate_

◆ state_publish_time_

◆ state_publisher_

◆ timeout_

◆ wheel_controller_