JointSpaceArmController Class Reference

#include <JointSpaceArmController.h>

List of all members.

Public Member Functions
void	followEntireTrajectory (const std::vector< std::vector< double > > &path, const std::string arm, const std::vector< unsigned int > &action, const std::vector< tf::Pose > &pose_path, std::vector< tf::Pose > &touch_points_allowed)
bool	followEntireTrajectory (const std::vector< std::vector< double > > &path, const std::string arm, const std::vector< unsigned int > &action, const std::vector< tf::Pose > &pose_path, std::vector< tf::Pose > &touch_points_allowed, std::vector< tf::Pose > &poses_wide_above_surface)
void	followTrajectory (const std::vector< std::vector< double > > &joint_traj, const std::vector< tf::Pose > &pose_traj, const std::string arm)
	JointSpaceArmController (ros::NodeHandle &nh)
bool	moveArmToJointGoalUsingPlanner (const std::string arm, const std::vector< double > &state, const bool collision_check, std::vector< tf::Pose > &touch_points_allowed)
bool	moveArmToPoseGoalUsingPlanner (const std::string arm, const tf::Pose &pose, const bool collision_check)
	~JointSpaceArmController ()
Private Attributes
ros::ServiceClient	filter_trajectory_client_
std::vector< std::string >	l_arm_joints_
ros::NodeHandle	nh_
std::vector< std::string >	r_arm_joints_
ros::ServiceClient	reset_collider_client_
std::vector< double >	start_r_arm_
actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction > *	traj_client_
TrajectoryPlanner	traj_planner_

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Detailed Description

Definition at line 33 of file JointSpaceArmController.h.

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Constructor & Destructor Documentation

JointSpaceArmController::JointSpaceArmController

(

ros::NodeHandle &

nh

)

Definition at line 75 of file JointSpaceArmController.cpp.

JointSpaceArmController::~JointSpaceArmController

(

)

Definition at line 114 of file JointSpaceArmController.cpp.

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Member Function Documentation

void JointSpaceArmController::followEntireTrajectory	(	const std::vector< std::vector< double > > &	path,
		const std::string	arm,
		const std::vector< unsigned int > &	action,
		const std::vector< tf::Pose > &	pose_path,
		std::vector< tf::Pose > &	touch_points_allowed
	)

Definition at line 118 of file JointSpaceArmController.cpp.

bool JointSpaceArmController::followEntireTrajectory	(	const std::vector< std::vector< double > > &	path,
		const std::string	arm,
		const std::vector< unsigned int > &	action,
		const std::vector< tf::Pose > &	pose_path,
		std::vector< tf::Pose > &	touch_points_allowed,
		std::vector< tf::Pose > &	poses_wide_above_surface
	)

Definition at line 189 of file JointSpaceArmController.cpp.

void JointSpaceArmController::followTrajectory	(	const std::vector< std::vector< double > > &	joint_traj,
		const std::vector< tf::Pose > &	pose_traj,
		const std::string	arm
	)

Definition at line 248 of file JointSpaceArmController.cpp.

bool JointSpaceArmController::moveArmToJointGoalUsingPlanner	(	const std::string	arm,
		const std::vector< double > &	state,
		const bool	collision_check,
		std::vector< tf::Pose > &	touch_points_allowed
	)

Definition at line 372 of file JointSpaceArmController.cpp.

bool JointSpaceArmController::moveArmToPoseGoalUsingPlanner	(	const std::string	arm,
		const tf::Pose &	pose,
		const bool	collision_check
	)

Definition at line 574 of file JointSpaceArmController.cpp.

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Member Data Documentation

ros::ServiceClient JointSpaceArmController::filter_trajectory_client_ [private]

Definition at line 55 of file JointSpaceArmController.h.

std::vector<std::string> JointSpaceArmController::l_arm_joints_ [private]

Definition at line 52 of file JointSpaceArmController.h.

ros::NodeHandle JointSpaceArmController::nh_ [private]

Definition at line 49 of file JointSpaceArmController.h.

std::vector<std::string> JointSpaceArmController::r_arm_joints_ [private]

Definition at line 51 of file JointSpaceArmController.h.

ros::ServiceClient JointSpaceArmController::reset_collider_client_ [private]

Definition at line 56 of file JointSpaceArmController.h.

std::vector<double> JointSpaceArmController::start_r_arm_ [private]

Definition at line 50 of file JointSpaceArmController.h.

actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction>* JointSpaceArmController::traj_client_ [private]

Definition at line 53 of file JointSpaceArmController.h.

TrajectoryPlanner JointSpaceArmController::traj_planner_ [private]

Definition at line 54 of file JointSpaceArmController.h.

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The documentation for this class was generated from the following files:

• JointSpaceArmController.h
• JointSpaceArmController.cpp