pr2_manipulation_controllers::JinvTeleopController< JOINTS > Class Template Reference

Inheritance diagram for pr2_manipulation_controllers::JinvTeleopController< JOINTS >:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *r, ros::NodeHandle &n)
	JinvTeleopController ()
void	starting ()
void	update ()
	~JinvTeleopController ()
Private Types
enum	{ POSE, TWIST }
typedef Eigen::Matrix< double, 6, 1 >	CartVector
typedef Eigen::Matrix< double, JOINTS, 1 >	JointVector
typedef pr2_manipulation_controllers::JinvTeleopControllerState	StateMsg
Private Member Functions
void	commandPoseCB (const geometry_msgs::PoseStamped::ConstPtr &command)
void	commandPostureCB (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	commandTwistCB (const geometry_msgs::TwistStamped::ConstPtr &command)
Private Attributes
pr2_mechanism_model::Chain	chain_
boost::scoped_ptr < KDL::ChainFkSolverVel >	fk_solver_
boost::scoped_ptr < KDL::ChainJntToJacSolver >	jac_solver_
double	jacobian_inverse_damping_
double	k_posture_
JointVector	Kd_j
CartVector	Kd_x
KDL::Chain	kdl_chain_
JointVector	Kp_j
CartVector	Kp_x
ros::Time	last_command_time_
ros::Time	last_time_
int	loop_count_
enum pr2_manipulation_controllers::JinvTeleopController:: { ... }	mode_
ros::NodeHandle	node_
JointVector	pclamp_j
double	pose_command_filter_
rosrt::Publisher< StateMsg >	pub_state_
ros::Publisher	pub_transformed_rot_vel_
ros::Publisher	pub_transformed_twist_
realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped >	pub_x_
realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped >	pub_x_desi_
realtime_tools::RealtimePublisher < geometry_msgs::TwistStamped >	pub_x_err_
JointVector	q
JointVector	q_posture_
JointVector	q_proxy_
JointVector	qd
JointVector	qd_pose
pr2_mechanism_model::RobotState *	robot_
std::string	root_name_
ros::Subscriber	sub_command_
ros::Subscriber	sub_command_pose_
ros::Subscriber	sub_posture_
ros::Subscriber	sub_twist_
JointVector	tau
tf::TransformListener	tf_
bool	use_posture_
Eigen::Affine3d	x
Eigen::Affine3d	x_desi_
Eigen::Affine3d	x_desi_filtered_
CartVector	x_err
CartVector	xd
CartVector	xd_desi
CartVector	xd_ref
double	xd_rot_limit_
double	xd_trans_limit_

Detailed Description

template<int JOINTS>
class pr2_manipulation_controllers::JinvTeleopController< JOINTS >

Definition at line 64 of file jinv_teleop_controller.cpp.

Member Typedef Documentation

template<int JOINTS>

typedef Eigen::Matrix<double, 6, 1> pr2_manipulation_controllers::JinvTeleopController< JOINTS >::CartVector [private]

Definition at line 72 of file jinv_teleop_controller.cpp.

template<int JOINTS>

typedef Eigen::Matrix<double, JOINTS, 1> pr2_manipulation_controllers::JinvTeleopController< JOINTS >::JointVector [private]

Definition at line 71 of file jinv_teleop_controller.cpp.

template<int JOINTS>

typedef pr2_manipulation_controllers::JinvTeleopControllerState pr2_manipulation_controllers::JinvTeleopController< JOINTS >::StateMsg [private]

Definition at line 73 of file jinv_teleop_controller.cpp.

Member Enumeration Documentation

template<int JOINTS>

anonymous enum [private]

Enumerator:

POSE
TWIST

Definition at line 90 of file jinv_teleop_controller.cpp.

Constructor & Destructor Documentation

template<int JOINTS>

pr2_manipulation_controllers::JinvTeleopController< JOINTS >::JinvTeleopController ( ) [inline]

Definition at line 243 of file jinv_teleop_controller.cpp.

template<int JOINTS>

pr2_manipulation_controllers::JinvTeleopController< JOINTS >::~JinvTeleopController ( ) [inline]

Definition at line 249 of file jinv_teleop_controller.cpp.

Member Function Documentation

template<int JOINTS>

void pr2_manipulation_controllers::JinvTeleopController< JOINTS >::commandPoseCB ( const geometry_msgs::PoseStamped::ConstPtr & command ) [inline, private]

Definition at line 153 of file jinv_teleop_controller.cpp.

template<int JOINTS>

void pr2_manipulation_controllers::JinvTeleopController< JOINTS >::commandPostureCB ( const std_msgs::Float64MultiArray::ConstPtr & msg ) [inline, private]

Definition at line 222 of file jinv_teleop_controller.cpp.

template<int JOINTS>

void pr2_manipulation_controllers::JinvTeleopController< JOINTS >::commandTwistCB ( const geometry_msgs::TwistStamped::ConstPtr & command ) [inline, private]