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#include <joint_trajectory_action_controller.h>
Definition at line 161 of file joint_trajectory_action_controller.h.
typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::FJTAS [private] |
Definition at line 169 of file joint_trajectory_action_controller.h.
typedef JTAS::GoalHandle controller::JointTrajectoryActionController::GoalHandle [private] |
Definition at line 165 of file joint_trajectory_action_controller.h.
Definition at line 170 of file joint_trajectory_action_controller.h.
typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::JTAS [private] |
Definition at line 164 of file joint_trajectory_action_controller.h.
typedef RTServerGoalHandle<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandle [private] |
Definition at line 166 of file joint_trajectory_action_controller.h.
typedef RTServerGoalHandle<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandleFollow [private] |
Definition at line 171 of file joint_trajectory_action_controller.h.
typedef std::vector<Segment> controller::JointTrajectoryActionController::SpecifiedTrajectory [private] |
Definition at line 258 of file joint_trajectory_action_controller.h.
controller::JointTrajectoryActionController::JointTrajectoryActionController | ( | ) |
Definition at line 142 of file joint_trajectory_action_controller.cpp.
controller::JointTrajectoryActionController::~JointTrajectoryActionController | ( | ) |
Definition at line 147 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::cancelCB | ( | GoalHandle | gh | ) | [private] |
Definition at line 1020 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::cancelCBFollow | ( | GoalHandleFollow | gh | ) | [private] |
Definition at line 1038 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::commandCB | ( | const trajectory_msgs::JointTrajectory::ConstPtr & | msg | ) | [private] |
Definition at line 496 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::commandTrajectory | ( | const trajectory_msgs::JointTrajectory::ConstPtr & | traj, | |
boost::shared_ptr< RTGoalHandle > | gh = boost::shared_ptr<RTGoalHandle>((RTGoalHandle*)NULL) , |
|||
boost::shared_ptr< RTGoalHandleFollow > | gh_follow = boost::shared_ptr<RTGoalHandleFollow>((RTGoalHandleFollow*)NULL) | |||
) | [private] |
Definition at line 502 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::goalCB | ( | GoalHandle | gh | ) | [private] |
Definition at line 964 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::goalCBFollow | ( | GoalHandleFollow | gh | ) | [private] |
Definition at line 990 of file joint_trajectory_action_controller.cpp.
bool controller::JointTrajectoryActionController::init | ( | pr2_mechanism_model::RobotState * | robot, | |
ros::NodeHandle & | n | |||
) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 155 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::preemptActiveGoal | ( | ) | [private] |
Definition at line 936 of file joint_trajectory_action_controller.cpp.
bool controller::JointTrajectoryActionController::queryStateService | ( | pr2_controllers_msgs::QueryTrajectoryState::Request & | req, | |
pr2_controllers_msgs::QueryTrajectoryState::Response & | resp | |||
) | [private] |
Definition at line 849 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::sampleSplineWithTimeBounds | ( | const std::vector< double > & | coefficients, | |
double | duration, | |||
double | time, | |||
double & | position, | |||
double & | velocity, | |||
double & | acceleration | |||
) | [static, private] |
Definition at line 892 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::starting | ( | ) | [virtual] |
Reimplemented from pr2_controller_interface::Controller.
Definition at line 309 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::update | ( | void | ) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 330 of file joint_trajectory_action_controller.cpp.
boost::scoped_ptr<JTAS> controller::JointTrajectoryActionController::action_server_ [private] |
Definition at line 218 of file joint_trajectory_action_controller.h.
boost::scoped_ptr<FJTAS> controller::JointTrajectoryActionController::action_server_follow_ [private] |
Definition at line 219 of file joint_trajectory_action_controller.h.
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointTrajectoryActionController::controller_state_publisher_ [private] |
Definition at line 216 of file joint_trajectory_action_controller.h.
realtime_tools::RealtimeBox< boost::shared_ptr<const SpecifiedTrajectory> > controller::JointTrajectoryActionController::current_trajectory_box_ [private] |
Definition at line 261 of file joint_trajectory_action_controller.h.
Definition at line 195 of file joint_trajectory_action_controller.h.
std::vector<JointTolerance> controller::JointTrajectoryActionController::default_goal_tolerance_ [private] |
Definition at line 194 of file joint_trajectory_action_controller.h.
std::vector<JointTolerance> controller::JointTrajectoryActionController::default_trajectory_tolerance_ [private] |
Definition at line 193 of file joint_trajectory_action_controller.h.
Definition at line 224 of file joint_trajectory_action_controller.h.
std::vector<pr2_mechanism_model::JointState*> controller::JointTrajectoryActionController::joints_ [private] |
Definition at line 187 of file joint_trajectory_action_controller.h.
Definition at line 186 of file joint_trajectory_action_controller.h.
int controller::JointTrajectoryActionController::loop_count_ [private] |
Definition at line 184 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::masses_ [private] |
Definition at line 188 of file joint_trajectory_action_controller.h.
Definition at line 205 of file joint_trajectory_action_controller.h.
std::vector<boost::shared_ptr<filters::FilterChain<double> > > controller::JointTrajectoryActionController::output_filters_ [private] |
Definition at line 203 of file joint_trajectory_action_controller.h.
std::vector<control_toolbox::Pid> controller::JointTrajectoryActionController::pids_ [private] |
Definition at line 189 of file joint_trajectory_action_controller.h.
std::vector<control_toolbox::LimitedProxy> controller::JointTrajectoryActionController::proxies_ [private] |
Definition at line 191 of file joint_trajectory_action_controller.h.
std::vector<bool> controller::JointTrajectoryActionController::proxies_enabled_ [private] |
Definition at line 190 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::q [private] |
Definition at line 269 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::qd [private] |
Definition at line 269 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::qdd [private] |
Definition at line 269 of file joint_trajectory_action_controller.h.
Definition at line 185 of file joint_trajectory_action_controller.h.
boost::shared_ptr<RTGoalHandle> controller::JointTrajectoryActionController::rt_active_goal_ [private] |
Definition at line 226 of file joint_trajectory_action_controller.h.
boost::shared_ptr<RTGoalHandleFollow> controller::JointTrajectoryActionController::rt_active_goal_follow_ [private] |
Definition at line 227 of file joint_trajectory_action_controller.h.
Definition at line 212 of file joint_trajectory_action_controller.h.
Definition at line 208 of file joint_trajectory_action_controller.h.