ControlHead Class Reference

List of all members.

Public Member Functions
	ControlHead (const ros::NodeHandle &n)
void	goalCB (GoalHandle gh)
Private Types
typedef PHAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer < pr2_controllers_msgs::PointHeadAction >	PHAS
Private Member Functions
void	cancelCB (GoalHandle gh)
void	controllerStateCB (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &msg)
void	watchdog (const ros::TimerEvent &e)
Private Attributes
PHAS	action_server_
GoalHandle	active_goal_
ros::ServiceClient	cli_query_traj_
ros::Subscriber	command_sub_
bool	has_active_goal_
pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr	last_controller_state_
ros::NodeHandle	node_
std::string	pan_joint_
std::string	pan_link_
std::string	pan_parent_
ros::Publisher	pub_controller_command_
ros::Subscriber	sub_controller_state_
double	success_angle_threshold_
tf::Stamped< tf::Point >	target_in_pan_
tf::TransformListener	tf_
std::string	tilt_joint_
std::string	tilt_link_
ros::Timer	watchdog_timer_

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Detailed Description

Definition at line 49 of file pr2_head_action.cpp.

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Member Typedef Documentation

typedef PHAS::GoalHandle ControlHead::GoalHandle [private]

Definition at line 51 of file pr2_head_action.cpp.

typedef actionlib::ActionServer<pr2_controllers_msgs::PointHeadAction> ControlHead::PHAS [private]

Definition at line 50 of file pr2_head_action.cpp.

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Constructor & Destructor Documentation

ControlHead::ControlHead

(

const ros::NodeHandle &

n

)

[inline]

Definition at line 53 of file pr2_head_action.cpp.

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Member Function Documentation

void ControlHead::cancelCB

(

GoalHandle

gh

)

[inline, private]

Definition at line 256 of file pr2_head_action.cpp.

void ControlHead::controllerStateCB

(

const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &

msg

)

[inline, private]

Todo:

Support frames that are not the pan link itself

Definition at line 273 of file pr2_head_action.cpp.

void ControlHead::goalCB

(

GoalHandle

gh

)

[inline]

Definition at line 85 of file pr2_head_action.cpp.

void ControlHead::watchdog

(

const ros::TimerEvent &

e

)

[inline, private]

Definition at line 221 of file pr2_head_action.cpp.

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Member Data Documentation

PHAS ControlHead::action_server_ [private]

Definition at line 214 of file pr2_head_action.cpp.

GoalHandle ControlHead::active_goal_ [private]

Definition at line 216 of file pr2_head_action.cpp.

ros::ServiceClient ControlHead::cli_query_traj_ [private]

Definition at line 211 of file pr2_head_action.cpp.

ros::Subscriber ControlHead::command_sub_ [private]

Definition at line 210 of file pr2_head_action.cpp.

bool ControlHead::has_active_goal_ [private]

Definition at line 215 of file pr2_head_action.cpp.

pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr ControlHead::last_controller_state_ [private]

Definition at line 272 of file pr2_head_action.cpp.

ros::NodeHandle ControlHead::node_ [private]

Definition at line 206 of file pr2_head_action.cpp.

std::string ControlHead::pan_joint_ [private]

Definition at line 203 of file pr2_head_action.cpp.

std::string ControlHead::pan_link_ [private]

Definition at line 201 of file pr2_head_action.cpp.

std::string ControlHead::pan_parent_ [private]

Definition at line 218 of file pr2_head_action.cpp.

ros::Publisher ControlHead::pub_controller_command_ [private]

Definition at line 208 of file pr2_head_action.cpp.

ros::Subscriber ControlHead::sub_controller_state_ [private]

Definition at line 209 of file pr2_head_action.cpp.

double ControlHead::success_angle_threshold_ [private]

Definition at line 219 of file pr2_head_action.cpp.

tf::Stamped<tf::Point> ControlHead::target_in_pan_ [private]

Definition at line 217 of file pr2_head_action.cpp.

tf::TransformListener ControlHead::tf_ [private]

Definition at line 207 of file pr2_head_action.cpp.

std::string ControlHead::tilt_joint_ [private]

Definition at line 204 of file pr2_head_action.cpp.

std::string ControlHead::tilt_link_ [private]

Definition at line 202 of file pr2_head_action.cpp.

ros::Timer ControlHead::watchdog_timer_ [private]

Definition at line 212 of file pr2_head_action.cpp.

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

• pr2_head_action.cpp