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[Personalrobots-commit] SF.net SVN: personalrobots: [1061] pkg/trunk
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From: <hsu...@us...> - 2008-06-27 22:24:02
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Revision: 1061
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=1061&view=rev
Author: hsujohnhsu
Date: 2008-06-27 15:24:07 -0700 (Fri, 27 Jun 2008)
Log Message:
-----------
moved controllers around. Sorry David.
Modified Paths:
--------------
pkg/trunk/controllers/genericControllers/src/Pid.cpp
pkg/trunk/simulators/gazebo_plugin/Makefile
pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh
pkg/trunk/simulators/gazebo_plugin/manifest.xml
Added Paths:
-----------
pkg/trunk/controllers/genericControllers/
pkg/trunk/controllers/genericControllers/Makefile
pkg/trunk/controllers/genericControllers/bin/
pkg/trunk/controllers/genericControllers/include/
pkg/trunk/controllers/genericControllers/include/genericControllers/
pkg/trunk/controllers/genericControllers/lib/
pkg/trunk/controllers/genericControllers/manifest.xml
pkg/trunk/controllers/genericControllers/nodes/
pkg/trunk/controllers/genericControllers/src/
pkg/trunk/controllers/genericControllers/test/
pkg/trunk/controllers/pr2Controllers/
pkg/trunk/controllers/pr2Controllers/Makefile
pkg/trunk/controllers/pr2Controllers/bin/
pkg/trunk/controllers/pr2Controllers/include/
pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/
pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/BaseController.h
pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/Controller.h
pkg/trunk/controllers/pr2Controllers/lib/
pkg/trunk/controllers/pr2Controllers/manifest.xml
pkg/trunk/controllers/pr2Controllers/src/
pkg/trunk/controllers/pr2Controllers/src/.Controller.cpp.swp
pkg/trunk/controllers/pr2Controllers/src/ArmController.cpp
pkg/trunk/controllers/pr2Controllers/src/BaseController.cpp
pkg/trunk/controllers/pr2Controllers/src/Controller.cpp
pkg/trunk/controllers/pr2Controllers/src/GripperController.cpp
pkg/trunk/controllers/pr2Controllers/src/HeadController.cpp
pkg/trunk/controllers/pr2Controllers/src/JointController.cpp
pkg/trunk/controllers/pr2Controllers/src/LaserScannerController.cpp
pkg/trunk/controllers/pr2Controllers/src/SpineController.cpp
Removed Paths:
-------------
pkg/trunk/controllers/Makefile
pkg/trunk/controllers/bin/
pkg/trunk/controllers/genericControllers/include/controllers/
pkg/trunk/controllers/genericControllers/src/Makefile
pkg/trunk/controllers/include/
pkg/trunk/controllers/lib/
pkg/trunk/controllers/manifest.xml
pkg/trunk/controllers/nodes/
pkg/trunk/controllers/src/
pkg/trunk/controllers/test/
Deleted: pkg/trunk/controllers/Makefile
===================================================================
--- pkg/trunk/controllers/Makefile 2008-06-27 22:22:39 UTC (rev 1060)
+++ pkg/trunk/controllers/Makefile 2008-06-27 22:24:07 UTC (rev 1061)
@@ -1,3 +0,0 @@
-SUBDIRS = src
-include $(shell rospack find mk)/recurse_subdirs.mk
-
Copied: pkg/trunk/controllers/genericControllers/Makefile (from rev 1057, pkg/trunk/controllers/Makefile)
===================================================================
--- pkg/trunk/controllers/genericControllers/Makefile (rev 0)
+++ pkg/trunk/controllers/genericControllers/Makefile 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+SRC = src/Pid.cpp
+OUT = lib/libPid.a
+PKG = genericControllers
+include $(shell rospack find mk)/lib.mk
+
Copied: pkg/trunk/controllers/genericControllers/bin (from rev 1057, pkg/trunk/controllers/bin)
Copied: pkg/trunk/controllers/genericControllers/include (from rev 1057, pkg/trunk/controllers/include)
Copied: pkg/trunk/controllers/genericControllers/include/genericControllers (from rev 1057, pkg/trunk/controllers/include/controllers)
Copied: pkg/trunk/controllers/genericControllers/lib (from rev 1057, pkg/trunk/controllers/lib)
Copied: pkg/trunk/controllers/genericControllers/manifest.xml (from rev 1057, pkg/trunk/controllers/manifest.xml)
===================================================================
--- pkg/trunk/controllers/genericControllers/manifest.xml (rev 0)
+++ pkg/trunk/controllers/genericControllers/manifest.xml 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,13 @@
+<package>
+ <description brief='Generic Controller Library'>
+ Library for doing generic controls.
+ </description>
+ <author>Melonee Wise</author>
+ <license>BSD</license>
+ <depend package="pr2Core" />
+ <url>http://pr.willowgarage.com</url>
+ <repository>http://pr.willowgarage.com/repos</repository>
+ <export>
+ <cpp cflags='-I${prefix}/include' lflags='-L${prefix}/lib -lPid '/>
+ </export>
+</package>
Copied: pkg/trunk/controllers/genericControllers/nodes (from rev 1057, pkg/trunk/controllers/nodes)
Copied: pkg/trunk/controllers/genericControllers/src (from rev 1057, pkg/trunk/controllers/src)
Deleted: pkg/trunk/controllers/genericControllers/src/Makefile
===================================================================
--- pkg/trunk/controllers/src/Makefile 2008-06-27 17:36:32 UTC (rev 1057)
+++ pkg/trunk/controllers/genericControllers/src/Makefile 2008-06-27 22:24:07 UTC (rev 1061)
@@ -1,5 +0,0 @@
-SRC = Pid.cpp
-OUT = ../lib/libPid.a
-PKG = controllers
-include $(shell rospack find mk)/lib.mk
-
Modified: pkg/trunk/controllers/genericControllers/src/Pid.cpp
===================================================================
--- pkg/trunk/controllers/src/Pid.cpp 2008-06-27 17:36:32 UTC (rev 1057)
+++ pkg/trunk/controllers/genericControllers/src/Pid.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -1,4 +1,4 @@
-#include <controllers/Pid.h>
+#include <genericControllers/Pid.h>
#include<iostream>
using namespace std;
Copied: pkg/trunk/controllers/genericControllers/test (from rev 1057, pkg/trunk/controllers/test)
Deleted: pkg/trunk/controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/manifest.xml 2008-06-27 22:22:39 UTC (rev 1060)
+++ pkg/trunk/controllers/manifest.xml 2008-06-27 22:24:07 UTC (rev 1061)
@@ -1,14 +0,0 @@
-<package>
-<description brief='Controller Library'>
-
-Library for doing controls.
-
-</description>
-<author>Melonee Wise</author>
-<license>BSD</license>
-<url>http://pr.willowgarage.com</url>
-<repository>http://pr.willowgarage.com/repos</repository>
-<export>
-<cpp cflags='-I${prefix}/include' lflags='-L${prefix}/lib -lPid '/>
-</export>
-</package>
Added: pkg/trunk/controllers/pr2Controllers/Makefile
===================================================================
--- pkg/trunk/controllers/pr2Controllers/Makefile (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/Makefile 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+SRC = src/Controller.cpp src/BaseController.cpp src/HeadController.cpp src/SpineController.cpp src/ArmController.cpp src/LaserScannerController.cpp src/JointController.cpp src/GripperController.cpp
+OUT = lib/libPr2Controllers.a
+PKG = pr2Controllers
+include $(shell rospack find mk)/lib.mk
+
Added: pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/BaseController.h
===================================================================
--- pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/BaseController.h (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/BaseController.h 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,97 @@
+#pragma once
+/***************************************************/
+/*! \brief A PR2 Base controller
+
+ This class implements controller loops for
+ PR2 Base Control
+
+*/
+/***************************************************/
+//#include <newmat10/newmat.h>
+//#include <libKinematics/ik.h>
+//#include <sys/types.h>
+//#include <stdint.h>
+//#include <string>
+//#include <libKDL/kdl_kinematics.h> // for kinematics using KDL -- util/kinematics/libKDL
+
+#include <pr2Core/pr2Core.h>
+#include <libpr2HW/pr2HW.h>
+
+
+class BaseController
+{
+ public:
+
+ /*!
+ * \brief Constructor,
+ *
+ * \param
+ */
+ BaseController();
+
+ /*!
+ * \brief Destructor of Pid class.
+ */
+ ~BaseController( );
+
+ /*!
+ * \brief Drive robot on a course
+ *
+ * Give the course in the robot frame, with theta=0 pointing forward.
+ * e.g. setting theta=0 puts robot in a car-like mode.
+ *
+ *
+ */
+ setCourse(double v , double theta);
+
+ /*!
+ * \brief Drive robot on a course
+ *
+ * Same as setCourse except the inputs are the x and y components of velocities.
+ *
+ */
+ setCourseXY(double vx, double vy);
+
+ /*!
+ * \brief Set target point in Global Frame
+ */
+ setTarget(double x,double y, double theta, double vx, double vy, double vw);
+
+ /*!
+ * \brief Set target points (trajectory list) in Global Frame
+ */
+ setTraj(int num_pts, double x[],double y[], double theta[], double vx[], double vy[], double vw[]);
+
+ /*!
+ * \brief Heading pose for the robot
+ *
+ * Robot assume a stationary rotation mode, and achieve heading in Global Frame
+ * theta=0 implies +x-axis direction,
+ * +theta implies counter-clockwise
+ *
+ */
+ setHeading(double theta);
+
+ /*!
+ * \brief Set force (linear summation of all wheels) in global frame
+ */
+ setForce(double fx, double fy);
+
+ /*!
+ * \brief Set parameters for this controller
+ *
+ * user can set maximum velocity
+ * and maximum acceleration
+ * constraints for this controller
+ *
+ * e.g. setParam('maxVel',10);
+ * or setParam('maxAcc',10);
+ *
+ */
+ setParam(string label,double value);
+
+ private:
+ PR2::PR2_CONTROL_MODE controlMode; /**< Base controller control mode >*/
+};
+
+
Added: pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/Controller.h
===================================================================
--- pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/Controller.h (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/include/pr2Controllers/Controller.h 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,27 @@
+#pragma once
+/***************************************************/
+/*! \brief A PR2 Base controller
+
+ This class implements controller loops for
+ PR2 Base Control
+
+*/
+/***************************************************/
+
+#include <pr2Core/pr2Core.h>
+#include <libpr2HW/pr2HW.h>
+
+#include <genericControllers/Pid.h>
+
+class Controller
+{
+ public:
+ Controller();
+ ~Controller();
+
+ private:
+
+
+
+};
+
Added: pkg/trunk/controllers/pr2Controllers/manifest.xml
===================================================================
--- pkg/trunk/controllers/pr2Controllers/manifest.xml (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/manifest.xml 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,15 @@
+<package>
+ <description brief='PR2 Specific Controller Library'>
+ Library for controlling PR2 main modules. Namely:
+ Base, Head, Spine, Arm and LaserScanner, with base Joint Controllers as the base class.
+ Also, a controller for the PR2 Gripper.
+ </description>
+ <author>Melonee Wise</author>
+ <license>BSD</license>
+ <depend package="pr2Core" />
+ <url>http://pr.willowgarage.com</url>
+ <repository>http://pr.willowgarage.com/repos</repository>
+ <export>
+ <cpp cflags='-I${prefix}/include' lflags='-L${prefix}/lib -lPr2Controllers'/>
+ </export>
+</package>
Added: pkg/trunk/controllers/pr2Controllers/src/.Controller.cpp.swp
===================================================================
(Binary files differ)
Property changes on: pkg/trunk/controllers/pr2Controllers/src/.Controller.cpp.swp
___________________________________________________________________
Name: svn:mime-type
+ application/octet-stream
Added: pkg/trunk/controllers/pr2Controllers/src/ArmController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/ArmController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/ArmController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/ArmController.h>
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/BaseController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/BaseController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/BaseController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/BaseController.h>
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/Controller.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/Controller.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/Controller.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,22 @@
+
+#include <pr2Controllers/Controller.h>
+
+/*
+ *
+ * Base Class for PR2 Controllers
+ *
+ */
+
+Controller::Controller()
+{
+
+}
+
+Controller::~Controller()
+{
+
+}
+
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/GripperController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/GripperController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/GripperController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/GripperController.h>
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/HeadController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/HeadController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/HeadController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/HeadController.h>
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/JointController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/JointController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/JointController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/JointController.h>
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/LaserScannerController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/LaserScannerController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/LaserScannerController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/LaserScannerController.h>
+
+
+
Added: pkg/trunk/controllers/pr2Controllers/src/SpineController.cpp
===================================================================
--- pkg/trunk/controllers/pr2Controllers/src/SpineController.cpp (rev 0)
+++ pkg/trunk/controllers/pr2Controllers/src/SpineController.cpp 2008-06-27 22:24:07 UTC (rev 1061)
@@ -0,0 +1,5 @@
+
+#include <controller/SpineController.h>
+
+
+
Modified: pkg/trunk/simulators/gazebo_plugin/Makefile
===================================================================
--- pkg/trunk/simulators/gazebo_plugin/Makefile 2008-06-27 22:22:39 UTC (rev 1060)
+++ pkg/trunk/simulators/gazebo_plugin/Makefile 2008-06-27 22:24:07 UTC (rev 1061)
@@ -9,7 +9,7 @@
LDFLAGS = $(shell rospack export/cpp/lflags gazebo) \
$(shell rospack export/cpp/lflags opende) \
$(shell rospack export/cpp/lflags pr2Core) \
- $(shell rospack export/cpp/lflags controllers) \
+ $(shell rospack export/cpp/lflags genericControllers) \
$(shell rospack export/cpp/lflags newmat10)
LIB_ACT = lib/libPr2_Actarray.a
Modified: pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh
===================================================================
--- pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh 2008-06-27 22:22:39 UTC (rev 1060)
+++ pkg/trunk/simulators/gazebo_plugin/include/gazebo_plugin/Pr2_Actarray.hh 2008-06-27 22:24:07 UTC (rev 1061)
@@ -32,7 +32,7 @@
#include <pr2Core/pr2Core.h>
#include <vector>
-#include <controllers/Pid.h>
+#include <genericControllers/Pid.h>
namespace gazebo
{
Modified: pkg/trunk/simulators/gazebo_plugin/manifest.xml
===================================================================
--- pkg/trunk/simulators/gazebo_plugin/manifest.xml 2008-06-27 22:22:39 UTC (rev 1060)
+++ pkg/trunk/simulators/gazebo_plugin/manifest.xml 2008-06-27 22:24:07 UTC (rev 1061)
@@ -12,7 +12,7 @@
<depend package="opende"/>
<depend package="pr2Core"/>
<depend package="newmat10"/>
-<depend package="controllers"/>
+<depend package="genericControllers"/>
<export>
<cpp cflags="-I${prefix}/include" lflags="-L${prefix}/lib -lPr2_Actarray -lPr2_Gripper -lP3D"/>
</export>
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