Public Member Functions | Private Member Functions | Private Attributes
DoorOpener Class Reference

#include <unlatching.h>

List of all members.

Public Member Functions

void addTrajectoryPoint (ee_cart_imped_msgs::EECartImpedGoal &msg, tf::Transform pose, float fx, float fy, float fz, float tx, float ty, float tz, float time, std::string frame_id)
 DoorOpener (unsigned char side= 'r')
void drive_base (const ros::TimerEvent &event)
 Sends the command to drive the base. Needs to be called periodically.
void grasp_handle (const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > > a_pregrasp, const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > > a_grasp, const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > > a_postgrasp)
void home_position ()
 Gripper to front of robot.
bool listen (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool swing_door (geometry_msgs::PoseStamped)
void use_gripper (float position, float effort)
 Open or close gripper.
bool wait_for_gripper ()
 ~DoorOpener ()

Private Member Functions

tf::StampedTransform getTransform (const std::string &from, const std::string &to)
void push_door ()
void withdraw (float meters)

Private Attributes

EECartImpedArm * arm_
geometry_msgs::Twist base_cmd
ros::Publisher cmd_vel_pub_
std::string fixed_frame_name_
message_filters::Subscriber
< geometry_msgs::PoseStamped > 
grasp_sub
gripActClientgripperClient
bool listening_
ros::NodeHandle n
message_filters::Subscriber
< geometry_msgs::PoseStamped > 
postgrasp_sub
message_filters::Subscriber
< geometry_msgs::PoseStamped > 
pregrasp_sub
ros::ServiceServer serviceServer
unsigned char side_
bool started_
bool success_
message_filters::Synchronizer
< MySyncPolicy
sync
tf::TransformListenertflistener_
std::string tool_frame_name_

Detailed Description

Definition at line 25 of file unlatching.h.


Constructor & Destructor Documentation

DoorOpener::DoorOpener ( unsigned char  side = 'r')

Definition at line 8 of file unlatching.cpp.

Definition at line 55 of file unlatching.cpp.


Member Function Documentation

void DoorOpener::addTrajectoryPoint ( ee_cart_imped_msgs::EECartImpedGoal &  msg,
tf::Transform  pose,
float  fx,
float  fy,
float  fz,
float  tx,
float  ty,
float  tz,
float  time,
std::string  frame_id 
)

Definition at line 351 of file unlatching.cpp.

Sends the command to drive the base. Needs to be called periodically.

Definition at line 110 of file unlatching.cpp.

tf::StampedTransform DoorOpener::getTransform ( const std::string &  from,
const std::string &  to 
) [private]

Definition at line 341 of file unlatching.cpp.

void DoorOpener::grasp_handle ( const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > >  a_pregrasp,
const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > >  a_grasp,
const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > >  a_postgrasp 
)

Definition at line 223 of file unlatching.cpp.

Gripper to front of robot.

Definition at line 184 of file unlatching.cpp.

bool DoorOpener::listen ( std_srvs::Empty::Request &  ,
std_srvs::Empty::Response &   
)

Definition at line 39 of file unlatching.cpp.

void DoorOpener::push_door ( ) [private]

Definition at line 118 of file unlatching.cpp.

bool DoorOpener::swing_door ( geometry_msgs::PoseStamped  start_pose)

Definition at line 364 of file unlatching.cpp.

void DoorOpener::use_gripper ( float  position,
float  effort 
)

Open or close gripper.

Definition at line 61 of file unlatching.cpp.

Definition at line 72 of file unlatching.cpp.

void DoorOpener::withdraw ( float  meters) [private]

Retreat the gripper along its x-axis. meters gives the length to withdraw in meters

Definition at line 198 of file unlatching.cpp.


Member Data Documentation

EECartImpedArm* DoorOpener::arm_ [private]

Definition at line 56 of file unlatching.h.

geometry_msgs::Twist DoorOpener::base_cmd [private]

Definition at line 54 of file unlatching.h.

Definition at line 53 of file unlatching.h.

std::string DoorOpener::fixed_frame_name_ [private]

Definition at line 59 of file unlatching.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> DoorOpener::grasp_sub [private]

Definition at line 50 of file unlatching.h.

Definition at line 46 of file unlatching.h.

Definition at line 65 of file unlatching.h.

Definition at line 47 of file unlatching.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> DoorOpener::postgrasp_sub [private]

Definition at line 51 of file unlatching.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> DoorOpener::pregrasp_sub [private]

Definition at line 49 of file unlatching.h.

Definition at line 48 of file unlatching.h.

unsigned char DoorOpener::side_ [private]

Definition at line 55 of file unlatching.h.

Definition at line 66 of file unlatching.h.

Definition at line 67 of file unlatching.h.

Definition at line 52 of file unlatching.h.

Definition at line 57 of file unlatching.h.

std::string DoorOpener::tool_frame_name_ [private]

Definition at line 58 of file unlatching.h.


The documentation for this class was generated from the following files:
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door_manipulation_tools
Author(s): Felix Endres
autogenerated on Wed Dec 26 2012 16:02:19