| motoman::controller::Controller | Class encapsulates the motoman controller interface. It also handles higher level functions such as maintining the current motion state. This class is meant to be a Singleton, but that is not explicitly enforced. Only one instance of this object should be instantiated |
| motoman::input_handler::InputHandler | Message handler that responds to robot input state requests |
| motoman::joint_motion_handler::JointMotionHandler | Message handler that handles joint motion requests to the controller |
| motoman::joint_relay_handler::JointRelayHandler | Message handler that relays joint positions (converts simple message types to ROS message types and publishes them) |
| motoman::joint_trajectory_downloader::JointTrajectoryDownloader | Message handler that downloads joint trajectories to the motoman controller |
| motoman::joint_trajectory_handler::JointTrajectoryHandler | Message handler that relays joint trajectories to the motoman controller |
| PVarQ::message | |
| motoman::parameters::Parameters | This is a static class that is meant to capture controller level and global constants related to the motoman interface. Capturing the data in a single place makes sense for now given that this information is needed in multiple places |
| motoman::p_var_q::PVarQ | |
| PVarQ | |
| motoman::trajectory_job::TrajectoryJob | The job class encapsulates a trajectory as defined by a motoman job file (*.JBI). This class makes certain assumptions about the job file structure and is not meant to be a generic implementation of a job class (but could be extended if the need arises) |