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#include <jt_cartesian_controller.h>
Definition at line 100 of file jt_cartesian_controller.h.
typedef Eigen::Matrix<double, 6, 1> controller::JTCartesianController::CartVec [private] |
Definition at line 109 of file jt_cartesian_controller.h.
typedef Eigen::Matrix<double, 6, Joints> controller::JTCartesianController::Jacobian [private] |
Definition at line 110 of file jt_cartesian_controller.h.
typedef Eigen::Matrix<double, Joints, 1> controller::JTCartesianController::JointVec [private] |
Definition at line 108 of file jt_cartesian_controller.h.
typedef robot_mechanism_controllers::JTCartesianControllerState controller::JTCartesianController::StateMsg [private] |
Definition at line 111 of file jt_cartesian_controller.h.
anonymous enum [private] |
Definition at line 107 of file jt_cartesian_controller.h.
controller::JTCartesianController::JTCartesianController | ( | ) |
controller::JTCartesianController::~JTCartesianController | ( | ) |
void controller::JTCartesianController::commandPose | ( | const geometry_msgs::PoseStamped::ConstPtr & | command | ) | [inline] |
Definition at line 190 of file jt_cartesian_controller.h.
void controller::JTCartesianController::commandPosture | ( | const std_msgs::Float64MultiArray::ConstPtr & | msg | ) | [inline] |
Definition at line 172 of file jt_cartesian_controller.h.
bool controller::JTCartesianController::init | ( | pr2_mechanism_model::RobotState * | robot, | |
ros::NodeHandle & | n | |||
) | [virtual] |
Implements pr2_controller_interface::Controller.
void controller::JTCartesianController::setGains | ( | const std_msgs::Float64MultiArray::ConstPtr & | msg | ) | [inline] |
Definition at line 159 of file jt_cartesian_controller.h.
void controller::JTCartesianController::starting | ( | ) | [virtual] |
Reimplemented from pr2_controller_interface::Controller.
void controller::JTCartesianController::update | ( | ) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 137 of file jt_cartesian_controller.h.
Definition at line 105 of file jt_cartesian_controller.h.
Definition at line 145 of file jt_cartesian_controller.h.
Definition at line 143 of file jt_cartesian_controller.h.
Definition at line 144 of file jt_cartesian_controller.h.
Definition at line 147 of file jt_cartesian_controller.h.
Eigen::Matrix<double,6,1> controller::JTCartesianController::Kd |
Definition at line 139 of file jt_cartesian_controller.h.
boost::scoped_ptr<Kin<Joints> > controller::JTCartesianController::kin_ |
Definition at line 138 of file jt_cartesian_controller.h.
Eigen::Matrix<double,6,1> controller::JTCartesianController::Kp |
Definition at line 139 of file jt_cartesian_controller.h.
Eigen::Affine3d controller::JTCartesianController::last_pose_ |
Definition at line 154 of file jt_cartesian_controller.h.
Definition at line 133 of file jt_cartesian_controller.h.
Definition at line 155 of file jt_cartesian_controller.h.
Definition at line 134 of file jt_cartesian_controller.h.
Definition at line 123 of file jt_cartesian_controller.h.
Definition at line 140 of file jt_cartesian_controller.h.
Definition at line 129 of file jt_cartesian_controller.h.
realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> controller::JTCartesianController::pub_x_desi_ |
Definition at line 130 of file jt_cartesian_controller.h.
Definition at line 146 of file jt_cartesian_controller.h.
Definition at line 157 of file jt_cartesian_controller.h.
Definition at line 151 of file jt_cartesian_controller.h.
Definition at line 152 of file jt_cartesian_controller.h.
Definition at line 151 of file jt_cartesian_controller.h.
Definition at line 152 of file jt_cartesian_controller.h.
Definition at line 135 of file jt_cartesian_controller.h.
std::string controller::JTCartesianController::root_name_ |
Definition at line 132 of file jt_cartesian_controller.h.
Definition at line 142 of file jt_cartesian_controller.h.
Definition at line 124 of file jt_cartesian_controller.h.
Definition at line 126 of file jt_cartesian_controller.h.
Definition at line 125 of file jt_cartesian_controller.h.
Definition at line 127 of file jt_cartesian_controller.h.
std::string controller::JTCartesianController::tip_name_ |
Definition at line 132 of file jt_cartesian_controller.h.
Definition at line 148 of file jt_cartesian_controller.h.
Definition at line 141 of file jt_cartesian_controller.h.
Definition at line 141 of file jt_cartesian_controller.h.
Definition at line 121 of file jt_cartesian_controller.h.
Eigen::Affine3d controller::JTCartesianController::x_desi_ |
Definition at line 120 of file jt_cartesian_controller.h.
Eigen::Affine3d controller::JTCartesianController::x_desi_filtered_ |
Definition at line 120 of file jt_cartesian_controller.h.