WamMoveArmAlgorithm Class Reference

IRI ROS Specific Driver Class. More...

#include <wam_move_arm_alg.h>

List of all members.

Public Types
typedef iri_wam_move_arm::WamMoveArmConfig	Config
	define config type
Public Member Functions
void	calculateFK (const std::vector< double > &pos, geometry_msgs::PoseStamped &pose)
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
bool	hasJoint (const arm_navigation_msgs::MoveArmGoal &goal)
bool	hasPose (const arm_navigation_msgs::MoveArmGoal &goal)
void	lock (void)
	Lock Algorithm.
void	makeMsg (const geometry_msgs::PoseStamped &pose, arm_navigation_msgs::MoveArmGoal &goal, const std::string &link)
void	reconfigure (arm_navigation_msgs::MoveArmGoal &goal)
void	reconfigure_joint (std::vector< arm_navigation_msgs::JointConstraint > &joint_constraints, arm_navigation_msgs::MoveArmGoal &goal)
void	reconfigure_point (arm_navigation_msgs::PositionConstraint &position_constraint)
void	reconfigure_points (std::vector< arm_navigation_msgs::PositionConstraint > &position_constraint)
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	WamMoveArmAlgorithm (void)
	constructor
	~WamMoveArmAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
std::string	link_name
double	tool_x
double	tool_y
double	tool_z
Protected Attributes
CMutex	alg_mutex_
	define config type

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Detailed Description

IRI ROS Specific Driver Class.

Definition at line 47 of file wam_move_arm_alg.h.

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Member Typedef Documentation

typedef iri_wam_move_arm::WamMoveArmConfig WamMoveArmAlgorithm::Config

define config type

Define a Config type with the WamMoveArmConfig. All driver implementations will then use the same variable type Config.

Definition at line 67 of file wam_move_arm_alg.h.

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Constructor & Destructor Documentation

WamMoveArmAlgorithm::WamMoveArmAlgorithm

(

void

)

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 4 of file wam_move_arm_alg.cpp.

WamMoveArmAlgorithm::~WamMoveArmAlgorithm

(

void

)

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 10 of file wam_move_arm_alg.cpp.

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Member Function Documentation

void WamMoveArmAlgorithm::calculateFK	(	const std::vector< double > &	pos,
		geometry_msgs::PoseStamped &	pose
	)

Definition at line 52 of file wam_move_arm_alg.cpp.

void WamMoveArmAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = 0
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 14 of file wam_move_arm_alg.cpp.

bool WamMoveArmAlgorithm::hasJoint

(

const arm_navigation_msgs::MoveArmGoal &

goal

)

Definition at line 112 of file wam_move_arm_alg.cpp.

bool WamMoveArmAlgorithm::hasPose

(

const arm_navigation_msgs::MoveArmGoal &

goal

)

Definition at line 108 of file wam_move_arm_alg.cpp.

void WamMoveArmAlgorithm::lock

(

void

)

[inline]

Lock Algorithm.

Locks access to the Algorithm class

Definition at line 92 of file wam_move_arm_alg.h.

void WamMoveArmAlgorithm::makeMsg	(	const geometry_msgs::PoseStamped &	pose,
		arm_navigation_msgs::MoveArmGoal &	goal,
		const std::string &	link
	)

Definition at line 96 of file wam_move_arm_alg.cpp.

void WamMoveArmAlgorithm::reconfigure

(

arm_navigation_msgs::MoveArmGoal &

goal

)

Definition at line 116 of file wam_move_arm_alg.cpp.

void WamMoveArmAlgorithm::reconfigure_joint	(	std::vector< arm_navigation_msgs::JointConstraint > &	joint_constraints,
		arm_navigation_msgs::MoveArmGoal &	goal
	)

Definition at line 39 of file wam_move_arm_alg.cpp.

void WamMoveArmAlgorithm::reconfigure_point

(

arm_navigation_msgs::PositionConstraint &

position_constraint

)

Definition at line 25 of file wam_move_arm_alg.cpp.

void WamMoveArmAlgorithm::reconfigure_points

(

std::vector< arm_navigation_msgs::PositionConstraint > &

position_constraint

)

Definition at line 31 of file wam_move_arm_alg.cpp.

bool WamMoveArmAlgorithm::try_enter

(

void

)

[inline]

Tries Access to Algorithm.

Tries access to Algorithm

Returns:

true if the lock was adquired, false otherwise

Definition at line 108 of file wam_move_arm_alg.h.

void WamMoveArmAlgorithm::unlock

(

void

)

[inline]

Unlock Algorithm.

Unlocks access to the Algorithm class

Definition at line 99 of file wam_move_arm_alg.h.

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Member Data Documentation

CMutex WamMoveArmAlgorithm::alg_mutex_ [protected]

define config type

Define a Config type with the WamMoveArmConfig. All driver implementations will then use the same variable type Config.

Definition at line 56 of file wam_move_arm_alg.h.

Config WamMoveArmAlgorithm::config_

config variable

This variable has all the driver parameters defined in the cfg config file. Is updated everytime function config_update() is called.

Definition at line 75 of file wam_move_arm_alg.h.

std::string WamMoveArmAlgorithm::link_name

Definition at line 137 of file wam_move_arm_alg.h.

double WamMoveArmAlgorithm::tool_x

Definition at line 134 of file wam_move_arm_alg.h.

double WamMoveArmAlgorithm::tool_y

Definition at line 135 of file wam_move_arm_alg.h.

double WamMoveArmAlgorithm::tool_z

Definition at line 136 of file wam_move_arm_alg.h.

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

• wam_move_arm_alg.h
• wam_move_arm_alg.cpp