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#include <pr2_teleop_general_commander.h>
Definition at line 54 of file pr2_teleop_general_commander.h.
Definition at line 64 of file pr2_teleop_general_commander.h.
Definition at line 70 of file pr2_teleop_general_commander.h.
Definition at line 83 of file pr2_teleop_general_commander.h.
Definition at line 77 of file pr2_teleop_general_commander.h.
Definition at line 58 of file pr2_teleop_general_commander.h.
GeneralCommander::GeneralCommander | ( | bool | control_body, | |
bool | control_head, | |||
bool | control_rarm, | |||
bool | control_larm, | |||
bool | control_prosilica, | |||
std::string | arm_controller_name = default_arm_controller_name | |||
) |
Definition at line 67 of file pr2_teleop_general_commander.cpp.
GeneralCommander::~GeneralCommander | ( | ) |
Definition at line 265 of file pr2_teleop_general_commander.cpp.
double GeneralCommander::calcAverage | ( | const std::list< double > & | av_list | ) | const [private] |
Definition at line 1460 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::clampDesiredArmPositionsToActual | ( | double | max_dist | ) | [private] |
Definition at line 765 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::composeWristRotGoal | ( | const std::string | pref, | |
pr2_controllers_msgs::JointTrajectoryGoal & | goal, | |||
std::vector< double > & | des_joints, | |||
double | des_vel, | |||
double | hz | |||
) | const [private] |
Definition at line 663 of file pr2_teleop_general_commander.cpp.
GeneralCommander::ArmControlMode GeneralCommander::getArmMode | ( | WhichArm | which | ) |
Definition at line 322 of file pr2_teleop_general_commander.cpp.
GeneralCommander::HeadControlMode GeneralCommander::getHeadMode | ( | ) |
Definition at line 318 of file pr2_teleop_general_commander.cpp.
bool GeneralCommander::getJointPosition | ( | const std::string & | name, | |
double & | pos | |||
) | const |
Definition at line 298 of file pr2_teleop_general_commander.cpp.
bool GeneralCommander::getJointVelocity | ( | const std::string & | name, | |
double & | vel | |||
) | const |
Definition at line 306 of file pr2_teleop_general_commander.cpp.
GeneralCommander::LaserControlMode GeneralCommander::getLaserMode | ( | ) |
Definition at line 314 of file pr2_teleop_general_commander.cpp.
geometry_msgs::Pose GeneralCommander::getPositionFromJointsPose | ( | ros::ServiceClient & | service_client, | |
std::string | fk_link, | |||
const std::vector< std::string > & | joint_names, | |||
const std::vector< double > & | joint_pos | |||
) | [private] |
Definition at line 1471 of file pr2_teleop_general_commander.cpp.
bool GeneralCommander::initWalkAlong | ( | ) |
Definition at line 1279 of file pr2_teleop_general_commander.cpp.
bool GeneralCommander::isWalkAlongOk | ( | ) | [inline] |
Definition at line 153 of file pr2_teleop_general_commander.h.
void GeneralCommander::jointStateCallback | ( | const sensor_msgs::JointStateConstPtr & | jointState | ) | [private] |
Definition at line 287 of file pr2_teleop_general_commander.cpp.
bool GeneralCommander::moveToWalkAlongArmPose | ( | ) |
Definition at line 1131 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::powerBoardCallback | ( | const pr2_msgs::PowerBoardStateConstPtr & | powerBoardState | ) | [private] |
Definition at line 1513 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::requestProsilicaImage | ( | std::string | ns | ) |
Definition at line 1522 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendArmVelCommands | ( | double | r_x_vel, | |
double | r_y_vel, | |||
double | r_z_vel, | |||
double | r_pitch_vel, | |||
double | r_roll_vel, | |||
double | l_x_vel, | |||
double | l_y_vel, | |||
double | l_z_vel, | |||
double | l_pitch_vel, | |||
double | l_roll_vel, | |||
double | hz | |||
) |
Definition at line 885 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendBaseCommand | ( | double | vx, | |
double | vy, | |||
double | vw | |||
) |
Definition at line 596 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendGripperCommand | ( | WhichArm | which, | |
bool | close | |||
) |
Definition at line 539 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendHeadCommand | ( | double | req_pan, | |
double | req_tilt | |||
) |
Definition at line 480 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendHeadSequence | ( | HeadSequence | seq | ) |
Definition at line 1496 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendHeadTrackCommand | ( | ) |
Definition at line 500 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendProjectorStartStop | ( | bool | start | ) |
Definition at line 330 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendTorsoCommand | ( | double | pos, | |
double | vel | |||
) |
Definition at line 578 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendWalkAlongCommand | ( | double | thresh, | |
double | x_dist_max, | |||
double | x_speed_scale, | |||
double | y_dist_max, | |||
double | y_speed_scale, | |||
double | rot_scale | |||
) |
Definition at line 1382 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::sendWristVelCommands | ( | double | right_wrist_vel, | |
double | left_wrist_vel, | |||
double | hz | |||
) |
Definition at line 630 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::setArmMode | ( | WhichArm | which, | |
ArmControlMode | mode | |||
) |
Definition at line 406 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::setHeadMode | ( | HeadControlMode | mode | ) |
Definition at line 383 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::setLaserMode | ( | LaserControlMode | mode | ) |
Definition at line 349 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::switchControllers | ( | const std::vector< std::string > & | start_controllers, | |
const std::vector< std::string > & | stop_controllers | |||
) |
Definition at line 606 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::tuckArms | ( | WhichArm | arm | ) |
Definition at line 1532 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::turnOffWalkAlong | ( | ) | [inline] |
Definition at line 157 of file pr2_teleop_general_commander.h.
void GeneralCommander::unnormalizeTrajectory | ( | trajectory_msgs::JointTrajectory & | traj | ) | const [private] |
Definition at line 831 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::untuckArms | ( | WhichArm | arm | ) |
Definition at line 1555 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::updateCurrentWristPositions | ( | ) |
Definition at line 698 of file pr2_teleop_general_commander.cpp.
void GeneralCommander::updateWalkAlongAverages | ( | ) | [private] |
Definition at line 1342 of file pr2_teleop_general_commander.cpp.
ros::Publisher GeneralCommander::base_pub_ [private] |
Definition at line 228 of file pr2_teleop_general_commander.h.
bool GeneralCommander::control_body_ [private] |
Definition at line 184 of file pr2_teleop_general_commander.h.
bool GeneralCommander::control_head_ [private] |
Definition at line 185 of file pr2_teleop_general_commander.h.
bool GeneralCommander::control_larm_ [private] |
Definition at line 187 of file pr2_teleop_general_commander.h.
bool GeneralCommander::control_prosilica_ [private] |
Definition at line 188 of file pr2_teleop_general_commander.h.
bool GeneralCommander::control_rarm_ [private] |
Definition at line 186 of file pr2_teleop_general_commander.h.
Definition at line 205 of file pr2_teleop_general_commander.h.
Definition at line 205 of file pr2_teleop_general_commander.h.
Definition at line 246 of file pr2_teleop_general_commander.h.
Definition at line 215 of file pr2_teleop_general_commander.h.
ros::Publisher GeneralCommander::head_pub_ [private] |
Definition at line 226 of file pr2_teleop_general_commander.h.
Definition at line 215 of file pr2_teleop_general_commander.h.
actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction>* GeneralCommander::head_track_hand_client_ [private] |
Definition at line 250 of file pr2_teleop_general_commander.h.
std::map<std::string, double> GeneralCommander::joint_state_position_map_ [private] |
Definition at line 201 of file pr2_teleop_general_commander.h.
Definition at line 231 of file pr2_teleop_general_commander.h.
std::map<std::string, double> GeneralCommander::joint_state_velocity_map_ [private] |
Definition at line 202 of file pr2_teleop_general_commander.h.
std::string GeneralCommander::l_arm_controller_name_ [private] |
Definition at line 199 of file pr2_teleop_general_commander.h.
Definition at line 245 of file pr2_teleop_general_commander.h.
double GeneralCommander::laser_fast_amplitude_ [private] |
Definition at line 195 of file pr2_teleop_general_commander.h.
double GeneralCommander::laser_fast_offset_ [private] |
Definition at line 196 of file pr2_teleop_general_commander.h.
double GeneralCommander::laser_fast_period_ [private] |
Definition at line 194 of file pr2_teleop_general_commander.h.
double GeneralCommander::laser_slow_amplitude_ [private] |
Definition at line 191 of file pr2_teleop_general_commander.h.
double GeneralCommander::laser_slow_offset_ [private] |
Definition at line 192 of file pr2_teleop_general_commander.h.
double GeneralCommander::laser_slow_period_ [private] |
Definition at line 190 of file pr2_teleop_general_commander.h.
Definition at line 235 of file pr2_teleop_general_commander.h.
Definition at line 234 of file pr2_teleop_general_commander.h.
double GeneralCommander::last_torso_vel_ [private] |
Definition at line 237 of file pr2_teleop_general_commander.h.
Definition at line 248 of file pr2_teleop_general_commander.h.
Definition at line 223 of file pr2_teleop_general_commander.h.
Definition at line 224 of file pr2_teleop_general_commander.h.
Definition at line 222 of file pr2_teleop_general_commander.h.
Definition at line 230 of file pr2_teleop_general_commander.h.
actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction>* GeneralCommander::left_arm_trajectory_client_ [private] |
Definition at line 254 of file pr2_teleop_general_commander.h.
std::vector<double> GeneralCommander::left_des_joint_states_ [private] |
Definition at line 210 of file pr2_teleop_general_commander.h.
actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction>* GeneralCommander::left_gripper_client_ [private] |
Definition at line 252 of file pr2_teleop_general_commander.h.
std::vector<double> GeneralCommander::left_walk_along_pose_ [private] |
Definition at line 208 of file pr2_teleop_general_commander.h.
Definition at line 204 of file pr2_teleop_general_commander.h.
ros::NodeHandle GeneralCommander::n_ [private] |
Definition at line 182 of file pr2_teleop_general_commander.h.
Definition at line 232 of file pr2_teleop_general_commander.h.
Definition at line 225 of file pr2_teleop_general_commander.h.
std::string GeneralCommander::r_arm_controller_name_ [private] |
Definition at line 198 of file pr2_teleop_general_commander.h.
Definition at line 247 of file pr2_teleop_general_commander.h.
Definition at line 220 of file pr2_teleop_general_commander.h.
Definition at line 221 of file pr2_teleop_general_commander.h.
Definition at line 219 of file pr2_teleop_general_commander.h.
Definition at line 229 of file pr2_teleop_general_commander.h.
actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction>* GeneralCommander::right_arm_trajectory_client_ [private] |
Definition at line 253 of file pr2_teleop_general_commander.h.
std::vector<double> GeneralCommander::right_des_joint_states_ [private] |
Definition at line 210 of file pr2_teleop_general_commander.h.
actionlib::SimpleActionClient<pr2_controllers_msgs::Pr2GripperCommandAction>* GeneralCommander::right_gripper_client_ [private] |
Definition at line 251 of file pr2_teleop_general_commander.h.
std::vector<double> GeneralCommander::right_walk_along_pose_ [private] |
Definition at line 208 of file pr2_teleop_general_commander.h.
Definition at line 204 of file pr2_teleop_general_commander.h.
urdf::Model GeneralCommander::robot_model_ [private] |
A model of the robot to see which joints wrap around.
Definition at line 240 of file pr2_teleop_general_commander.h.
bool GeneralCommander::robot_model_initialized_ [private] |
Flag that tells us if the robot model was initialized successfully.
Definition at line 242 of file pr2_teleop_general_commander.h.
bool GeneralCommander::status_projector_on [private] |
Definition at line 244 of file pr2_teleop_general_commander.h.
Definition at line 218 of file pr2_teleop_general_commander.h.
Definition at line 217 of file pr2_teleop_general_commander.h.
ros::Publisher GeneralCommander::torso_pub_ [private] |
Definition at line 227 of file pr2_teleop_general_commander.h.
actionlib::SimpleActionClient<pr2_common_action_msgs::TuckArmsAction>* GeneralCommander::tuck_arms_client_ [private] |
Definition at line 255 of file pr2_teleop_general_commander.h.
Definition at line 207 of file pr2_teleop_general_commander.h.
bool GeneralCommander::walk_along_ok_ [private] |
Definition at line 213 of file pr2_teleop_general_commander.h.
Definition at line 207 of file pr2_teleop_general_commander.h.
std::list<double> GeneralCommander::walk_ldx_vals_ [private] |
Definition at line 212 of file pr2_teleop_general_commander.h.
std::list<double> GeneralCommander::walk_ldy_vals_ [private] |
Definition at line 212 of file pr2_teleop_general_commander.h.
std::list<double> GeneralCommander::walk_rdx_vals_ [private] |
Definition at line 212 of file pr2_teleop_general_commander.h.
std::list<double> GeneralCommander::walk_rdy_vals_ [private] |
Definition at line 212 of file pr2_teleop_general_commander.h.