controller::CartesianTrajectoryController Class Reference

#include <cartesian_trajectory_controller.h>

List of all members.

Public Member Functions
	CartesianTrajectoryController ()
bool	checkMoving (simple_Jtranspose_controller::CheckMoving::Request &req, simple_Jtranspose_controller::CheckMoving::Response &res)
bool	init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &n)
bool	moveTo (const geometry_msgs::PoseStamped &pose, const geometry_msgs::Twist &tolerance=geometry_msgs::Twist(), double duration=0)
void	starting ()
void	update ()
	~CartesianTrajectoryController ()
Private Member Functions
void	command (const tf::MessageFilter< geometry_msgs::PoseStamped >::MConstPtr &pose_msg)
KDL::Frame	getPose ()
bool	moveTo (simple_Jtranspose_controller::MoveToPose::Request &req, simple_Jtranspose_controller::MoveToPose::Response &resp)
bool	preempt (std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp)
void	TransformToFrame (const tf::Transform &trans, KDL::Frame &frame)
Private Attributes
pr2_mechanism_model::Chain	chain_
ros::ServiceServer	check_moving_srv_
std::string	controller_name_
bool	exceed_tolerance_
bool	is_moving_
KDL::JntArray	jnt_pos_
boost::scoped_ptr < KDL::ChainFkSolverPos >	jnt_to_pose_solver_
KDL::Chain	kdl_chain_
ros::Time	last_time_
double	max_duration_
std::vector < KDL::VelocityProfile_Trap >	motion_profile_
ros::ServiceServer	move_to_srv_
ros::NodeHandle	node_
KDL::Frame	pose_begin_
CartesianPoseController *	pose_controller_
KDL::Frame	pose_current_
KDL::Frame	pose_end_
ros::ServiceServer	preempt_srv_
bool	request_preempt_
pr2_mechanism_model::RobotState *	robot_state_
std::string	root_name_
tf::TransformListener	tf_
double	time_passed_
ros::Time	time_started_
KDL::Twist	tolerance_
KDL::Twist	twist_current_

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Detailed Description

Definition at line 44 of file cartesian_trajectory_controller.h.

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Constructor & Destructor Documentation

controller::CartesianTrajectoryController::CartesianTrajectoryController

(

)

controller::CartesianTrajectoryController::~CartesianTrajectoryController

(

)

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Member Function Documentation

bool controller::CartesianTrajectoryController::checkMoving	(	simple_Jtranspose_controller::CheckMoving::Request &	req,
		simple_Jtranspose_controller::CheckMoving::Response &	res
	)

void controller::CartesianTrajectoryController::command

(

const tf::MessageFilter< geometry_msgs::PoseStamped >::MConstPtr &

pose_msg

)

[private]

KDL::Frame controller::CartesianTrajectoryController::getPose

(

)

[private]

bool controller::CartesianTrajectoryController::init	(	pr2_mechanism_model::RobotState *	robot_state,
		ros::NodeHandle &	n
	)

bool controller::CartesianTrajectoryController::moveTo	(	simple_Jtranspose_controller::MoveToPose::Request &	req,
		simple_Jtranspose_controller::MoveToPose::Response &	resp
	)			[private]

bool controller::CartesianTrajectoryController::moveTo	(	const geometry_msgs::PoseStamped &	pose,
		const geometry_msgs::Twist &	tolerance = geometry_msgs::Twist(),
		double	duration = 0
	)

bool controller::CartesianTrajectoryController::preempt	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	resp
	)			[private]

void controller::CartesianTrajectoryController::starting

(

)

void controller::CartesianTrajectoryController::TransformToFrame	(	const tf::Transform &	trans,
		KDL::Frame &	frame
	)			[private]

void controller::CartesianTrajectoryController::update

(

)

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Member Data Documentation

pr2_mechanism_model::Chain controller::CartesianTrajectoryController::chain_ [private]

Definition at line 78 of file cartesian_trajectory_controller.h.

ros::ServiceServer controller::CartesianTrajectoryController::check_moving_srv_ [private]

Definition at line 66 of file cartesian_trajectory_controller.h.

std::string controller::CartesianTrajectoryController::controller_name_ [private]

Definition at line 68 of file cartesian_trajectory_controller.h.

bool controller::CartesianTrajectoryController::exceed_tolerance_ [private]

Definition at line 71 of file cartesian_trajectory_controller.h.

bool controller::CartesianTrajectoryController::is_moving_ [private]

Definition at line 71 of file cartesian_trajectory_controller.h.

KDL::JntArray controller::CartesianTrajectoryController::jnt_pos_ [private]

Definition at line 83 of file cartesian_trajectory_controller.h.

boost::scoped_ptr<KDL::ChainFkSolverPos> controller::CartesianTrajectoryController::jnt_to_pose_solver_ [private]

Definition at line 82 of file cartesian_trajectory_controller.h.

KDL::Chain controller::CartesianTrajectoryController::kdl_chain_ [private]

Definition at line 81 of file cartesian_trajectory_controller.h.

ros::Time controller::CartesianTrajectoryController::last_time_ [private]

Definition at line 69 of file cartesian_trajectory_controller.h.

double controller::CartesianTrajectoryController::max_duration_ [private]

Definition at line 70 of file cartesian_trajectory_controller.h.

std::vector<KDL::VelocityProfile_Trap> controller::CartesianTrajectoryController::motion_profile_ [private]

Definition at line 86 of file cartesian_trajectory_controller.h.

ros::ServiceServer controller::CartesianTrajectoryController::move_to_srv_ [private]

Definition at line 66 of file cartesian_trajectory_controller.h.

ros::NodeHandle controller::CartesianTrajectoryController::node_ [private]

Definition at line 65 of file cartesian_trajectory_controller.h.

KDL::Frame controller::CartesianTrajectoryController::pose_begin_ [private]

Definition at line 73 of file cartesian_trajectory_controller.h.

CartesianPoseController* controller::CartesianTrajectoryController::pose_controller_ [private]

Definition at line 89 of file cartesian_trajectory_controller.h.

KDL::Frame controller::CartesianTrajectoryController::pose_current_ [private]

Definition at line 73 of file cartesian_trajectory_controller.h.

KDL::Frame controller::CartesianTrajectoryController::pose_end_ [private]

Definition at line 73 of file cartesian_trajectory_controller.h.

ros::ServiceServer controller::CartesianTrajectoryController::preempt_srv_ [private]

Definition at line 66 of file cartesian_trajectory_controller.h.

bool controller::CartesianTrajectoryController::request_preempt_ [private]

Definition at line 71 of file cartesian_trajectory_controller.h.

pr2_mechanism_model::RobotState* controller::CartesianTrajectoryController::robot_state_ [private]

Definition at line 77 of file cartesian_trajectory_controller.h.

std::string controller::CartesianTrajectoryController::root_name_ [private]

Definition at line 95 of file cartesian_trajectory_controller.h.

tf::TransformListener controller::CartesianTrajectoryController::tf_ [private]

Definition at line 91 of file cartesian_trajectory_controller.h.

double controller::CartesianTrajectoryController::time_passed_ [private]

Definition at line 70 of file cartesian_trajectory_controller.h.

ros::Time controller::CartesianTrajectoryController::time_started_ [private]

Definition at line 69 of file cartesian_trajectory_controller.h.

KDL::Twist controller::CartesianTrajectoryController::tolerance_ [private]

Definition at line 74 of file cartesian_trajectory_controller.h.

KDL::Twist controller::CartesianTrajectoryController::twist_current_ [private]

Definition at line 74 of file cartesian_trajectory_controller.h.

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

• cartesian_trajectory_controller.h