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controller::CartesianWrenchController Class Reference

#include <cartesian_wrench_controller.h>

Inheritance diagram for controller::CartesianWrenchController:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 CartesianWrenchController ()
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void starting ()
void update ()
 ~CartesianWrenchController ()

Public Attributes

KDL::Wrench wrench_desi_

Private Member Functions

void command (const geometry_msgs::WrenchConstPtr &wrench_msg)

Private Attributes

pr2_mechanism_model::Chain chain_
KDL::Jacobian jacobian_
KDL::JntArray jnt_eff_
KDL::JntArray jnt_pos_
boost::scoped_ptr
< KDL::ChainJntToJacSolver
jnt_to_jac_solver_
KDL::Chain kdl_chain_
ros::NodeHandle node_
pr2_mechanism_model::RobotStaterobot_state_
ros::Subscriber sub_command_

Detailed Description

Definition at line 73 of file cartesian_wrench_controller.h.


Constructor & Destructor Documentation

controller::CartesianWrenchController::CartesianWrenchController (  ) 

Definition at line 45 of file cartesian_wrench_controller.cpp.

controller::CartesianWrenchController::~CartesianWrenchController (  ) 

Definition at line 52 of file cartesian_wrench_controller.cpp.


Member Function Documentation

void controller::CartesianWrenchController::command ( const geometry_msgs::WrenchConstPtr wrench_msg  )  [private]

Definition at line 139 of file cartesian_wrench_controller.cpp.

bool controller::CartesianWrenchController::init ( pr2_mechanism_model::RobotState robot,
ros::NodeHandle n 
) [virtual]
void controller::CartesianWrenchController::starting (  )  [virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 105 of file cartesian_wrench_controller.cpp.

void controller::CartesianWrenchController::update ( void   )  [virtual]

Member Data Documentation

Definition at line 92 of file cartesian_wrench_controller.h.

Definition at line 97 of file cartesian_wrench_controller.h.

Definition at line 96 of file cartesian_wrench_controller.h.

Definition at line 96 of file cartesian_wrench_controller.h.

Definition at line 95 of file cartesian_wrench_controller.h.

Definition at line 94 of file cartesian_wrench_controller.h.

Definition at line 88 of file cartesian_wrench_controller.h.

Definition at line 91 of file cartesian_wrench_controller.h.

Definition at line 89 of file cartesian_wrench_controller.h.

Definition at line 85 of file cartesian_wrench_controller.h.


The documentation for this class was generated from the following files:
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robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Mar 1 16:52:40 2013