Forward command controller for quad. More...

Inheritance diagram for effort_controllers::QuadController:

Collaboration diagram for effort_controllers::QuadController:

Public Member Functions
	QuadController ()
	Forward command controller for a set of effort controlled joints (torque or force).

bool	init (hardware_interface::EffortJointInterface *hw, ros::NodeHandle &n)

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

Public Attributes
std::vector< std::string >	joint_names_

std::vector< hardware_interface::JointHandle >	joints_

realtime_tools::RealtimeBuffer< BufferType >	commands_buffer_

unsigned int	n_joints_

Private Types
typedef std::vector< quad_msgs::LegCommand >	BufferType

Private Member Functions
void	commandCB (const quad_msgs::LegCommandArrayConstPtr &msg)

void	enforceJointLimits (double &command, unsigned int index)

Private Attributes
ros::Subscriber	sub_command_
	Subscriber for new LegCommandArray messages.

std::vector< urdf::JointConstSharedPtr >	joint_urdfs_
	Store reference to gazebo joints.

std::map< int, std::pair< int, int > >	leg_map_
	Map gazebo/urdf joint indices to leg/joint pair.

std::vector< double >	torque_lims_
	Torque limits for each motor.

std::vector< double >	speed_lims_

Detailed Description

Forward command controller for quad.

This class forwards the commanded efforts down to a set of joints.

Constructor & Destructor Documentation

effort_controllers::QuadController::QuadController ( )

Forward command controller for a set of effort controlled joints (torque or force).

This class forwards the commanded efforts down to a set of joints.

Parameters

type	Must be "JointGroupEffortController".
joints	List of names of the joints to control.

Subscribes to:

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