controller::JointTrajectoryActionController Class Reference

#include <joint_trajectory_action_controller.h>

Classes
struct	Segment
struct	Spline
Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	JointTrajectoryActionController ()
void	starting ()
void	update ()
	~JointTrajectoryActionController ()
Private Types
typedef actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction >	FJTAS
typedef JTAS::GoalHandle	GoalHandle
typedef FJTAS::GoalHandle	GoalHandleFollow
typedef actionlib::ActionServer < pr2_controllers_msgs::JointTrajectoryAction >	JTAS
typedef RTServerGoalHandle < pr2_controllers_msgs::JointTrajectoryAction >	RTGoalHandle
typedef RTServerGoalHandle < control_msgs::FollowJointTrajectoryAction >	RTGoalHandleFollow
typedef std::vector< Segment >	SpecifiedTrajectory
Private Member Functions
void	cancelCB (GoalHandle gh)
void	cancelCBFollow (GoalHandleFollow gh)
void	commandCB (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void	commandTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr< RTGoalHandle > gh=boost::shared_ptr< RTGoalHandle >((RTGoalHandle ) NULL), boost::shared_ptr< RTGoalHandleFollow > gh_follow=boost::shared_ptr< RTGoalHandleFollow >((RTGoalHandleFollow ) NULL))
void	goalCB (GoalHandle gh)
void	goalCBFollow (GoalHandleFollow gh)
void	preemptActiveGoal ()
bool	queryStateService (pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)
Static Private Member Functions
static void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
Private Attributes
boost::scoped_ptr< JTAS >	action_server_
boost::scoped_ptr< FJTAS >	action_server_follow_
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointTrajectoryControllerState > >	controller_state_publisher_
realtime_tools::RealtimeBox < boost::shared_ptr< const SpecifiedTrajectory > >	current_trajectory_box_
double	default_goal_time_constraint_
std::vector< JointTolerance >	default_goal_tolerance_
std::vector< JointTolerance >	default_trajectory_tolerance_
ros::Timer	goal_handle_timer_
std::vector < pr2_mechanism_model::JointState * >	joints_
ros::Time	last_time_
int	loop_count_
ros::NodeHandle	node_
std::vector< boost::shared_ptr < filters::FilterChain< double > > >	output_filters_
std::vector< control_toolbox::Pid >	pids_
std::vector< double >	q
std::vector< double >	qd
std::vector< double >	qdd
pr2_mechanism_model::RobotState *	robot_
boost::shared_ptr< RTGoalHandle >	rt_active_goal_
boost::shared_ptr < RTGoalHandleFollow >	rt_active_goal_follow_
ros::ServiceServer	serve_query_state_
ros::Subscriber	sub_command_

Detailed Description

Definition at line 158 of file joint_trajectory_action_controller.h.

Member Typedef Documentation

typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::FJTAS [private]

Definition at line 166 of file joint_trajectory_action_controller.h.

typedef JTAS::GoalHandle controller::JointTrajectoryActionController::GoalHandle [private]

Definition at line 162 of file joint_trajectory_action_controller.h.

typedef FJTAS::GoalHandle controller::JointTrajectoryActionController::GoalHandleFollow [private]

Definition at line 167 of file joint_trajectory_action_controller.h.

typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::JTAS [private]

Definition at line 161 of file joint_trajectory_action_controller.h.

typedef RTServerGoalHandle<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandle [private]

Definition at line 163 of file joint_trajectory_action_controller.h.

typedef RTServerGoalHandle<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandleFollow [private]

Definition at line 168 of file joint_trajectory_action_controller.h.

typedef std::vector<Segment> controller::JointTrajectoryActionController::SpecifiedTrajectory [private]

Definition at line 252 of file joint_trajectory_action_controller.h.

Constructor & Destructor Documentation

controller::JointTrajectoryActionController::JointTrajectoryActionController ( )

Definition at line 136 of file joint_trajectory_action_controller.cpp.

controller::JointTrajectoryActionController::~JointTrajectoryActionController ( )

Definition at line 141 of file joint_trajectory_action_controller.cpp.

Member Function Documentation

void controller::JointTrajectoryActionController::cancelCB ( GoalHandle gh ) [private]

Definition at line 969 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::cancelCBFollow ( GoalHandleFollow gh ) [private]

Definition at line 987 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectory::ConstPtr & msg ) [private]

Definition at line 445 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::commandTrajectory	(	const trajectory_msgs::JointTrajectory::ConstPtr &	traj,
		boost::shared_ptr< RTGoalHandle >	gh = `boost::shared_ptr<RTGoalHandle>((RTGoalHandle*)NULL)`,
		boost::shared_ptr< RTGoalHandleFollow >	gh_follow = `boost::shared_ptr<RTGoalHandleFollow>((RTGoalHandleFollow*)NULL)`
	)			`[private]`

Definition at line 451 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::goalCB ( GoalHandle gh ) [private]

Definition at line 913 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::goalCBFollow ( GoalHandleFollow gh ) [private]

Definition at line 939 of file joint_trajectory_action_controller.cpp.

bool controller::JointTrajectoryActionController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

Definition at line 149 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::preemptActiveGoal ( ) [private]

Definition at line 885 of file joint_trajectory_action_controller.cpp.

bool controller::JointTrajectoryActionController::queryStateService	(	pr2_controllers_msgs::QueryTrajectoryState::Request &	req,
		pr2_controllers_msgs::QueryTrajectoryState::Response &	resp
	)			`[private]`

Definition at line 798 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		double	duration,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)			`[static, private]`

Definition at line 841 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::starting ( )

Definition at line 277 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::update ( )

Definition at line 296 of file joint_trajectory_action_controller.cpp.

Member Data Documentation

boost::scoped_ptr<JTAS> controller::JointTrajectoryActionController::action_server_ [private]

Definition at line 212 of file joint_trajectory_action_controller.h.

boost::scoped_ptr<FJTAS> controller::JointTrajectoryActionController::action_server_follow_ [private]

Definition at line 213 of file joint_trajectory_action_controller.h.

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointTrajectoryActionController::controller_state_publisher_ [private]

Definition at line 210 of file joint_trajectory_action_controller.h.

realtime_tools::RealtimeBox< boost::shared_ptr<const SpecifiedTrajectory> > controller::JointTrajectoryActionController::current_trajectory_box_ [private]

Definition at line 255 of file joint_trajectory_action_controller.h.

double controller::JointTrajectoryActionController::default_goal_time_constraint_ [private]

Definition at line 189 of file joint_trajectory_action_controller.h.

std::vector<JointTolerance> controller::JointTrajectoryActionController::default_goal_tolerance_ [private]

Definition at line 188 of file joint_trajectory_action_controller.h.

std::vector<JointTolerance> controller::JointTrajectoryActionController::default_trajectory_tolerance_ [private]

Definition at line 187 of file joint_trajectory_action_controller.h.

ros::Timer controller::JointTrajectoryActionController::goal_handle_timer_ [private]

Definition at line 218 of file joint_trajectory_action_controller.h.

std::vector<pr2_mechanism_model::JointState*> controller::JointTrajectoryActionController::joints_ [private]