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controller::JointTrajectoryActionController Class Reference

#include <joint_trajectory_action_controller.h>

Inheritance diagram for controller::JointTrajectoryActionController:
Inheritance graph
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List of all members.

Classes

struct  Segment
struct  Spline

Public Member Functions

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

Private Types

typedef
actionlib::ActionServer
< control_msgs::FollowJointTrajectoryAction
FJTAS
typedef JTAS::GoalHandle GoalHandle
typedef FJTAS::GoalHandle GoalHandleFollow
typedef
actionlib::ActionServer
< pr2_controllers_msgs::JointTrajectoryAction
JTAS
typedef RTServerGoalHandle
< pr2_controllers_msgs::JointTrajectoryAction
RTGoalHandle
typedef RTServerGoalHandle
< control_msgs::FollowJointTrajectoryAction
RTGoalHandleFollow
typedef std::vector< SegmentSpecifiedTrajectory

Private Member Functions

void cancelCB (GoalHandle gh)
void cancelCBFollow (GoalHandleFollow gh)
void commandCB (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void 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))
void goalCB (GoalHandle gh)
void goalCBFollow (GoalHandleFollow gh)
void preemptActiveGoal ()
bool queryStateService (pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)

Static Private Member Functions

static void sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)

Private Attributes

boost::scoped_ptr< JTASaction_server_
boost::scoped_ptr< FJTASaction_server_follow_
boost::scoped_ptr
< realtime_tools::RealtimePublisher
< pr2_controllers_msgs::JointTrajectoryControllerState > > 
controller_state_publisher_
realtime_tools::RealtimeBox
< boost::shared_ptr< const
SpecifiedTrajectory > > 
current_trajectory_box_
double default_goal_time_constraint_
std::vector< JointTolerancedefault_goal_tolerance_
std::vector< JointTolerancedefault_trajectory_tolerance_
ros::Timer goal_handle_timer_
std::vector
< pr2_mechanism_model::JointState * > 
joints_
ros::Time last_time_
int loop_count_
std::vector< double > masses_
ros::NodeHandle node_
std::vector< boost::shared_ptr
< filters::FilterChain< double > > > 
output_filters_
std::vector< control_toolbox::Pidpids_
std::vector
< control_toolbox::LimitedProxy
proxies_
std::vector< bool > proxies_enabled_
std::vector< double > q
std::vector< double > qd
std::vector< double > qdd
pr2_mechanism_model::RobotStaterobot_
boost::shared_ptr< RTGoalHandlert_active_goal_
boost::shared_ptr
< RTGoalHandleFollow
rt_active_goal_follow_
ros::ServiceServer serve_query_state_
ros::Subscriber sub_command_

Detailed Description

Definition at line 161 of file joint_trajectory_action_controller.h.


Member Typedef Documentation

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Constructor & Destructor Documentation

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.


Member Function Documentation

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]
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]

Member Data Documentation

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std::vector<boost::shared_ptr<filters::FilterChain<double> > > controller::JointTrajectoryActionController::output_filters_ [private]

Definition at line 203 of file joint_trajectory_action_controller.h.

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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]

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The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Mar 1 16:52:40 2013