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controller::LaserScannerTrajController Class Reference

#include <laser_scanner_traj_controller.h>

List of all members.

Public Member Functions

int getCurProfileSegment ()
 Returns the current trajectory segment we're executing in our current profile.
double getCurProfileTime ()
 Returns what time we're currently at in the profile being executed.
double getProfileDuration ()
 Returns the length (in seconds) of our current profile.
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 LaserScannerTrajController ()
bool setPeriodicCmd (const pr2_msgs::PeriodicCmd &cmd)
bool setTrajCmd (const pr2_msgs::LaserTrajCmd &traj_cmd)
bool setTrajectory (const std::vector< trajectory::Trajectory::TPoint > &traj_points, double max_rate, double max_acc, std::string interp)
virtual void update ()
 ~LaserScannerTrajController ()

Private Attributes

filters::FilterChain< double > d_error_filter_chain_
pr2_mechanism_model::JointStatejoint_state_
double last_error_
ros::Time last_time_
double max_acc_
double max_rate_
std::string name_
control_toolbox::Pid pid_controller_
pr2_mechanism_model::RobotStaterobot_
tf::Vector3 track_point_
double tracking_offset_
trajectory::Trajectory traj_
double traj_command_
double traj_duration_
boost::mutex traj_lock_
ros::Time traj_start_time_

Detailed Description

Definition at line 66 of file laser_scanner_traj_controller.h.


Constructor & Destructor Documentation

LaserScannerTrajController::LaserScannerTrajController (  ) 

Definition at line 47 of file laser_scanner_traj_controller.cpp.

LaserScannerTrajController::~LaserScannerTrajController (  ) 

Definition at line 53 of file laser_scanner_traj_controller.cpp.


Member Function Documentation

int LaserScannerTrajController::getCurProfileSegment (  )  [inline]

Returns the current trajectory segment we're executing in our current profile.

Definition at line 220 of file laser_scanner_traj_controller.cpp.

double LaserScannerTrajController::getCurProfileTime (  )  [inline]

Returns what time we're currently at in the profile being executed.

Definition at line 207 of file laser_scanner_traj_controller.cpp.

double LaserScannerTrajController::getProfileDuration (  )  [inline]

Returns the length (in seconds) of our current profile.

Definition at line 215 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::init ( pr2_mechanism_model::RobotState robot,
ros::NodeHandle n 
)

Definition at line 58 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::setPeriodicCmd ( const pr2_msgs::PeriodicCmd cmd  ) 

Definition at line 254 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::setTrajCmd ( const pr2_msgs::LaserTrajCmd traj_cmd  ) 

Definition at line 312 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::setTrajectory ( const std::vector< trajectory::Trajectory::TPoint > &  traj_points,
double  max_rate,
double  max_acc,
std::string  interp 
)

Definition at line 226 of file laser_scanner_traj_controller.cpp.

void LaserScannerTrajController::update ( void   )  [virtual]

Todo:
replace this link tracker with a KDL inverse kinematics solver

Definition at line 135 of file laser_scanner_traj_controller.cpp.


Member Data Documentation

Definition at line 113 of file laser_scanner_traj_controller.h.

Definition at line 95 of file laser_scanner_traj_controller.h.

Definition at line 115 of file laser_scanner_traj_controller.h.

Definition at line 114 of file laser_scanner_traj_controller.h.

Definition at line 109 of file laser_scanner_traj_controller.h.

Definition at line 108 of file laser_scanner_traj_controller.h.

Definition at line 102 of file laser_scanner_traj_controller.h.

Definition at line 112 of file laser_scanner_traj_controller.h.

Definition at line 94 of file laser_scanner_traj_controller.h.

Definition at line 100 of file laser_scanner_traj_controller.h.

Definition at line 116 of file laser_scanner_traj_controller.h.

Definition at line 98 of file laser_scanner_traj_controller.h.

Definition at line 117 of file laser_scanner_traj_controller.h.

Definition at line 105 of file laser_scanner_traj_controller.h.

Definition at line 97 of file laser_scanner_traj_controller.h.

Definition at line 104 of file laser_scanner_traj_controller.h.


The documentation for this class was generated from the following files:
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pr2_mechanism_controllers
Author(s): Sachin Chita, John Hsu, Melonee Wise
autogenerated on Fri Mar 1 16:53:00 2013