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#include <cartesian_pose_controller.h>
Definition at line 97 of file cartesian_pose_controller.h.
controller::CartesianPoseController::CartesianPoseController | ( | ) |
Definition at line 51 of file cartesian_pose_controller.cpp.
controller::CartesianPoseController::~CartesianPoseController | ( | ) |
Definition at line 55 of file cartesian_pose_controller.cpp.
void controller::CartesianPoseController::command | ( | const geometry_msgs::PoseStamped::ConstPtr & | pose_msg | ) |
Definition at line 204 of file cartesian_pose_controller.cpp.
Frame controller::CartesianPoseController::getPose | ( | ) | [private] |
Definition at line 192 of file cartesian_pose_controller.cpp.
bool controller::CartesianPoseController::init | ( | pr2_mechanism_model::RobotState * | robot, | |
ros::NodeHandle & | n | |||
) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 61 of file cartesian_pose_controller.cpp.
void controller::CartesianPoseController::starting | ( | ) | [virtual] |
Reimplemented from pr2_controller_interface::Controller.
Definition at line 121 of file cartesian_pose_controller.cpp.
void controller::CartesianPoseController::update | ( | void | ) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 137 of file cartesian_pose_controller.cpp.
Definition at line 125 of file cartesian_pose_controller.h.
boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > controller::CartesianPoseController::command_filter_ [private] |
Definition at line 145 of file cartesian_pose_controller.h.
std::string controller::CartesianPoseController::controller_name_ [private] |
Definition at line 120 of file cartesian_pose_controller.h.
boost::scoped_ptr<KDL::ChainJntToJacSolver> controller::CartesianPoseController::jac_solver_ [private] |
Definition at line 133 of file cartesian_pose_controller.h.
Definition at line 136 of file cartesian_pose_controller.h.
KDL::JntArray controller::CartesianPoseController::jnt_eff_ [private] |
Definition at line 135 of file cartesian_pose_controller.h.
KDL::JntArray controller::CartesianPoseController::jnt_pos_ [private] |
Definition at line 134 of file cartesian_pose_controller.h.
boost::scoped_ptr<KDL::ChainFkSolverPos> controller::CartesianPoseController::jnt_to_pose_solver_ [private] |
Definition at line 132 of file cartesian_pose_controller.h.
Definition at line 131 of file cartesian_pose_controller.h.
Definition at line 121 of file cartesian_pose_controller.h.
unsigned int controller::CartesianPoseController::loop_count_ [private] |
Definition at line 141 of file cartesian_pose_controller.h.
Definition at line 119 of file cartesian_pose_controller.h.
std::vector<control_toolbox::Pid> controller::CartesianPoseController::pid_controller_ [private] |
Definition at line 128 of file cartesian_pose_controller.h.
Definition at line 110 of file cartesian_pose_controller.h.
Definition at line 110 of file cartesian_pose_controller.h.
Definition at line 124 of file cartesian_pose_controller.h.
std::string controller::CartesianPoseController::root_name_ [private] |
Definition at line 120 of file cartesian_pose_controller.h.
boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > controller::CartesianPoseController::state_error_publisher_ [private] |
Definition at line 139 of file cartesian_pose_controller.h.
boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> > controller::CartesianPoseController::state_pose_publisher_ [private] |
Definition at line 140 of file cartesian_pose_controller.h.
message_filters::Subscriber<geometry_msgs::PoseStamped> controller::CartesianPoseController::sub_command_ [private] |
Definition at line 144 of file cartesian_pose_controller.h.
Definition at line 143 of file cartesian_pose_controller.h.
Definition at line 114 of file cartesian_pose_controller.h.
Definition at line 111 of file cartesian_pose_controller.h.