motoman::joint_trajectory_handler::JointTrajectoryHandler Class Reference

Message handler that relays joint trajectories to the motoman controller. More...

#include <joint_trajectory_handler.h>

List of all members.

Public Member Functions
void	jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
	JointTrajectoryHandler (ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection *robotConnecton)
	Constructor.
	JointTrajectoryHandler ()
void	trajectoryHandler ()
	~JointTrajectoryHandler ()
Private Member Functions
void	trajectoryStop ()
Private Attributes
trajectory_msgs::JointTrajectory	current_traj_
int	currentPoint
boost::mutex	mutex_
ros::NodeHandle	node_
industrial::smpl_msg_connection::SmplMsgConnection *	robot_
JointTrajectoryState	state_
ros::Subscriber	sub_joint_tranectory_
boost::thread *	trajectoryHandler_
Static Private Attributes
static const int	NUM_OF_JOINTS_ = 7

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Detailed Description

Message handler that relays joint trajectories to the motoman controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 65 of file joint_trajectory_handler.h.

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Constructor & Destructor Documentation

motoman::joint_trajectory_handler::JointTrajectoryHandler::JointTrajectoryHandler

(

)

Definition at line 44 of file joint_trajectory_handler.cpp.

motoman::joint_trajectory_handler::JointTrajectoryHandler::JointTrajectoryHandler	(	ros::NodeHandle &	n,
		industrial::smpl_msg_connection::SmplMsgConnection *	robotConnecton
	)

Constructor.

Parameters:

	ROS	node handle (used for subscribing)
	ROS	node handle (used for publishing (to the robot controller))

Definition at line 48 of file joint_trajectory_handler.cpp.

motoman::joint_trajectory_handler::JointTrajectoryHandler::~JointTrajectoryHandler

(

)

Definition at line 65 of file joint_trajectory_handler.cpp.

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Member Function Documentation

void motoman::joint_trajectory_handler::JointTrajectoryHandler::jointTrajectoryCB

(

const trajectory_msgs::JointTrajectoryConstPtr &

msg

)

Definition at line 72 of file joint_trajectory_handler.cpp.

void motoman::joint_trajectory_handler::JointTrajectoryHandler::trajectoryHandler

(

)

Definition at line 118 of file joint_trajectory_handler.cpp.

void motoman::joint_trajectory_handler::JointTrajectoryHandler::trajectoryStop

(

)

[private]

Definition at line 199 of file joint_trajectory_handler.cpp.

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Member Data Documentation

trajectory_msgs::JointTrajectory motoman::joint_trajectory_handler::JointTrajectoryHandler::current_traj_ [private]

Definition at line 95 of file joint_trajectory_handler.h.

int motoman::joint_trajectory_handler::JointTrajectoryHandler::currentPoint [private]

Definition at line 94 of file joint_trajectory_handler.h.

boost::mutex motoman::joint_trajectory_handler::JointTrajectoryHandler::mutex_ [private]

Definition at line 94 of file joint_trajectory_handler.h.

ros::NodeHandle motoman::joint_trajectory_handler::JointTrajectoryHandler::node_ [private]

Definition at line 91 of file joint_trajectory_handler.h.

const int motoman::joint_trajectory_handler::JointTrajectoryHandler::NUM_OF_JOINTS_ = 7 [static, private]

Definition at line 98 of file joint_trajectory_handler.h.

industrial::smpl_msg_connection::SmplMsgConnection* motoman::joint_trajectory_handler::JointTrajectoryHandler::robot_ [private]

Definition at line 89 of file joint_trajectory_handler.h.

JointTrajectoryState motoman::joint_trajectory_handler::JointTrajectoryHandler::state_ [private]

Definition at line 96 of file joint_trajectory_handler.h.

ros::Subscriber motoman::joint_trajectory_handler::JointTrajectoryHandler::sub_joint_tranectory_ [private]

Definition at line 90 of file joint_trajectory_handler.h.

boost::thread* motoman::joint_trajectory_handler::JointTrajectoryHandler::trajectoryHandler_ [private]

Definition at line 93 of file joint_trajectory_handler.h.

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

• joint_trajectory_handler.h
• joint_trajectory_handler.cpp