cob_mmcontroller Class Reference

List of all members.

Public Member Functions
	cob_mmcontroller ()
void	resetTwist ()
bool	srvCallback_Init (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
bool	srvCallback_Pause (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
void	topicCallback_CartVel (const geometry_msgs::Twist::ConstPtr &msg)
void	topicCallback_ControllerState (const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr &msg)
void	updateArmCommands ()
Public Attributes
bool	m_bInitialized
ros::NodeHandle	nh_
Private Attributes
KDL::Twist	cmdTwist
KDL::ChainFkSolverPos_recursive *	fksolver
KDL::ChainIkSolverPos_NR *	iksolver1
KDL::ChainIkSolverVel_pinv *	iksolver1v
bool	m_bNewTwist
KDL::Chain	m_chain
std::vector< double >	m_CurrentConfig
std::vector< double >	m_CurrentVels
ros::ServiceServer	srvServer_Init_
ros::ServiceServer	srvServer_Pause_
ros::ServiceServer	srvServer_Stop_
ros::ServiceServer	srvServer_Trajectoy_
tf::TransformListener	tflistener
ros::Publisher	topicPub_armcmd_
ros::Subscriber	topicSub_cartvel_
ros::Subscriber	topicSub_ControllerState_
tf::StampedTransform	transform_arm_base

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Detailed Description

Definition at line 27 of file cob_mmcontroller.cpp.

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Constructor & Destructor Documentation

cob_mmcontroller::cob_mmcontroller

(

)

Definition at line 72 of file cob_mmcontroller.cpp.

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Member Function Documentation

void cob_mmcontroller::resetTwist

(

)

Definition at line 85 of file cob_mmcontroller.cpp.

bool cob_mmcontroller::srvCallback_Init	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)

Definition at line 142 of file cob_mmcontroller.cpp.

bool cob_mmcontroller::srvCallback_Pause	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)

Definition at line 172 of file cob_mmcontroller.cpp.

bool cob_mmcontroller::srvCallback_Stop	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)

Definition at line 177 of file cob_mmcontroller.cpp.

void cob_mmcontroller::topicCallback_CartVel

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Definition at line 115 of file cob_mmcontroller.cpp.

void cob_mmcontroller::topicCallback_ControllerState

(

const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr &

msg

)

Definition at line 135 of file cob_mmcontroller.cpp.

void cob_mmcontroller::updateArmCommands

(

)

Definition at line 90 of file cob_mmcontroller.cpp.

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Member Data Documentation

KDL::Twist cob_mmcontroller::cmdTwist [private]

Definition at line 36 of file cob_mmcontroller.cpp.

KDL::ChainFkSolverPos_recursive* cob_mmcontroller::fksolver [private]

Definition at line 30 of file cob_mmcontroller.cpp.

KDL::ChainIkSolverPos_NR* cob_mmcontroller::iksolver1 [private]

Definition at line 32 of file cob_mmcontroller.cpp.

KDL::ChainIkSolverVel_pinv* cob_mmcontroller::iksolver1v [private]

Definition at line 30 of file cob_mmcontroller.cpp.

bool cob_mmcontroller::m_bInitialized

Definition at line 56 of file cob_mmcontroller.cpp.

bool cob_mmcontroller::m_bNewTwist [private]

Definition at line 37 of file cob_mmcontroller.cpp.

KDL::Chain cob_mmcontroller::m_chain [private]

Definition at line 29 of file cob_mmcontroller.cpp.

std::vector<double> cob_mmcontroller::m_CurrentConfig [private]

Definition at line 33 of file cob_mmcontroller.cpp.

std::vector<double> cob_mmcontroller::m_CurrentVels [private]

Definition at line 34 of file cob_mmcontroller.cpp.

ros::NodeHandle cob_mmcontroller::nh_

Definition at line 42 of file cob_mmcontroller.cpp.

ros::ServiceServer cob_mmcontroller::srvServer_Init_ [private]

Definition at line 23 of file cob_mmcontroller.cpp.

ros::ServiceServer cob_mmcontroller::srvServer_Pause_ [private]

Definition at line 24 of file cob_mmcontroller.cpp.

ros::ServiceServer cob_mmcontroller::srvServer_Stop_ [private]

Definition at line 25 of file cob_mmcontroller.cpp.

ros::ServiceServer cob_mmcontroller::srvServer_Trajectoy_ [private]

Definition at line 26 of file cob_mmcontroller.cpp.

tf::TransformListener cob_mmcontroller::tflistener [private]

Definition at line 39 of file cob_mmcontroller.cpp.

ros::Publisher cob_mmcontroller::topicPub_armcmd_ [private]

Definition at line 20 of file cob_mmcontroller.cpp.

ros::Subscriber cob_mmcontroller::topicSub_cartvel_ [private]

Definition at line 18 of file cob_mmcontroller.cpp.

ros::Subscriber cob_mmcontroller::topicSub_ControllerState_ [private]

Definition at line 19 of file cob_mmcontroller.cpp.

tf::StampedTransform cob_mmcontroller::transform_arm_base [private]

Definition at line 40 of file cob_mmcontroller.cpp.

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

• cob_mmcontroller.cpp