rm_calibration_controllers::CalibrationBase< T > Class Template Reference

#include <calibration_base.h>

Inheritance diagram for rm_calibration_controllers::CalibrationBase< T >:

Collaboration diagram for rm_calibration_controllers::CalibrationBase< T >:

Public Member Functions
	CalibrationBase ()=default
bool	init (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	Get necessary params from param server. Init joint_calibration_controller.
void	starting (const ros::Time &time) override
	Switch all of the actuators state to INITIALIZED.
void	stopping (const ros::Time &time) override

Protected Types
enum	State { INITIALIZED , CALIBRATED }

Protected Member Functions
bool	isCalibrated (control_msgs::QueryCalibrationState::Request &req, control_msgs::QueryCalibrationState::Response &resp)
	Provide a service to know the state of target actuators.

Protected Attributes
ros::ServiceServer	is_calibrated_srv_
int	state_ {}
double	velocity_search_ {}
bool	calibration_success_ = false
rm_control::ActuatorExtraHandle	actuator_
effort_controllers::JointVelocityController	velocity_ctrl_
effort_controllers::JointPositionController	position_ctrl_

Member Enumeration Documentation

State

template<typename... T>

enum rm_calibration_controllers::CalibrationBase::State

protected

Enumerator
INITIALIZED
CALIBRATED

Constructor & Destructor Documentation

CalibrationBase()

template<typename... T>

rm_calibration_controllers::CalibrationBase< T >::CalibrationBase ( )

default

Member Function Documentation

init()

template<typename... T>

bool rm_calibration_controllers::CalibrationBase< T >::init ( hardware_interface::RobotHW * robot_hw, ros::NodeHandle & root_nh, ros::NodeHandle & controller_nh )

override

Get necessary params from param server. Init joint_calibration_controller.

Get params from param server and check whether these params are set.Init JointVelocityController.Check whether threshold is set correctly.

Parameters

robot_hw	The robot hardware abstraction.
root_nh	A NodeHandle in the root of the controller manager namespace. This is where the ROS interfaces are setup (publishers, subscribers, services).
controller_nh	A NodeHandle in the namespace of the controller. This is where the controller-specific configuration resides.

Returns

True if init successful, false when failed.

isCalibrated()

template<typename... T>

bool rm_calibration_controllers::CalibrationBase< T >::isCalibrated ( control_msgs::QueryCalibrationState::Request & req, control_msgs::QueryCalibrationState::Response & resp )

protected

Provide a service to know the state of target actuators.

When requesting to this server, it will return respond about whether target actuators has been calibrated.

Parameters

req	The request of knowing the state of target actuators.
resp	The respond included the state of target actuators.

Returns

True if get respond successfully, false when failed.

starting()

template<typename... T>

void rm_calibration_controllers::CalibrationBase< T >::starting ( const ros::Time & time )

override

Switch all of the actuators state to INITIALIZED.

Switch all of the actuator state to INITIALIZED in order to restart the calibration.

Parameters

time	The current time.

stopping()

template<typename... T>

void rm_calibration_controllers::CalibrationBase< T >::stopping ( const ros::Time & time )

override

Member Data Documentation

actuator_

template<typename... T>

rm_control::ActuatorExtraHandle rm_calibration_controllers::CalibrationBase< T >::actuator_

protected

calibration_success_

template<typename... T>

bool rm_calibration_controllers::CalibrationBase< T >::calibration_success_ = false

protected

is_calibrated_srv_

template<typename... T>

ros::ServiceServer rm_calibration_controllers::CalibrationBase< T >::is_calibrated_srv_

protected

position_ctrl_

template<typename... T>

effort_controllers::JointPositionController rm_calibration_controllers::CalibrationBase< T >::position_ctrl_

protected

state_

template<typename... T>

int rm_calibration_controllers::CalibrationBase< T >::state_ {}

protected

velocity_ctrl_

template<typename... T>

effort_controllers::JointVelocityController rm_calibration_controllers::CalibrationBase< T >::velocity_ctrl_

protected

velocity_search_

template<typename... T>

double rm_calibration_controllers::CalibrationBase< T >::velocity_search_ {}

protected

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

• rm_calibration_controllers/include/rm_calibration_controllers/calibration_base.h
• rm_calibration_controllers/src/calibration_base.cpp