inverted_pendulum_controller::InvertedPendulumController Class Reference

#include <inverted_pendulum_controller.hpp>

Inheritance diagram for inverted_pendulum_controller::InvertedPendulumController:

Collaboration diagram for inverted_pendulum_controller::InvertedPendulumController:

Public Member Functions
controller_interface::CallbackReturn	on_init () override
controller_interface::InterfaceConfiguration	command_interface_configuration () const override
controller_interface::InterfaceConfiguration	state_interface_configuration () const override
controller_interface::CallbackReturn	on_configure (const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn	on_activate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::CallbackReturn	on_deactivate (const rclcpp_lifecycle::State &previous_state) override
controller_interface::return_type	update (const rclcpp::Time &time, const rclcpp::Duration &period) override
Public Member Functions inherited from controller_interface::ControllerInterface
CONTROLLER_INTERFACE_PUBLIC void	assign_interfaces (std::vector< hardware_interface::LoanedCommandInterface > &&command_interfaces, std::vector< hardware_interface::LoanedStateInterface > &&state_interfaces)
CONTROLLER_INTERFACE_PUBLIC void	release_interfaces ()
virtual CONTROLLER_INTERFACE_PUBLIC return_type	init (const std::string &controller_name)
CONTROLLER_INTERFACE_PUBLIC std::shared_ptr< rclcpp::Node >	get_node ()
template<typename ParameterT >
auto	auto_declare (const std::string &name, const ParameterT &default_value)
	Declare and initialize a parameter with a type.
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	configure ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	cleanup ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	deactivate ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	activate ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	shutdown ()
CONTROLLER_INTERFACE_PUBLIC const rclcpp_lifecycle::State &	get_state () const
CONTROLLER_INTERFACE_PUBLIC unsigned int	get_update_rate () const

Protected Attributes
std::string	motor_joint_state_name_
std::string	motor_joint_vel_name_
std::string	pendulum_joint_state_name_
std::string	pendulum_joint_vel_name_
std::string	motor_joint_command_name_
double	balance_angle_
double	kp_
double	kd_
double	max_acceleration_
Protected Attributes inherited from controller_interface::ControllerInterface
std::vector< hardware_interface::LoanedCommandInterface >	command_interfaces_
std::vector< hardware_interface::LoanedStateInterface >	state_interfaces_
std::shared_ptr< rclcpp::Node >	node_
rclcpp_lifecycle::State	lifecycle_state_
unsigned int	update_rate_ = 0

Detailed Description

Feedback controller for a Furuta (rotary) inverted pendulum.

Reads pendulum position and velocity from state interfaces, outputs a motor joint acceleration command via PD control on the pendulum angle.

Member Function Documentation

command_interface_configuration()

controller_interface::InterfaceConfiguration inverted_pendulum_controller::InvertedPendulumController::command_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

on_init()

controller_interface::CallbackReturn inverted_pendulum_controller::InvertedPendulumController::on_init ( )

overridevirtual

Implements controller_interface::ControllerInterface.

state_interface_configuration()

controller_interface::InterfaceConfiguration inverted_pendulum_controller::InvertedPendulumController::state_interface_configuration ( ) const

overridevirtual

Implements controller_interface::ControllerInterface.

update()

controller_interface::return_type inverted_pendulum_controller::InvertedPendulumController::update ( const rclcpp::Time &  time, const rclcpp::Duration &  period  )

overridevirtual

Implements controller_interface::ControllerInterface.

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

• zephyr-zenoh-integration/demos/inverted_pendulum/inverted_pendulum_ros/include/inverted_pendulum_controller/inverted_pendulum_controller.hpp
• zephyr-zenoh-integration/demos/inverted_pendulum/inverted_pendulum_ros/src/inverted_pendulum_controller.cpp