wam_tutorial.h
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00001 #ifndef _WAM_CALIBRATION_H_
00002 #define _WAM_CALIBRATION_H_
00003 
00004 #include <math.h>
00005 #include <Eigen/StdVector>
00006 #include <Eigen/Dense>
00007 #include "ros/this_node.h"
00008 #include "ros/names.h"
00009 #include "ros/node_handle.h"
00010 #include "ros/rate.h"
00011 
00012 
00013 // [publisher subscriber headers]
00014 #include "sensor_msgs/JointState.h"
00015 #include "geometry_msgs/Pose.h"
00016 #include "tf/tfMessage.h"
00017 #include "geometry_msgs/PoseStamped.h"
00018 
00019 // [service client headers]
00020 #include "iri_wam_common_msgs/pose_move.h"
00021 #include "iri_wam_common_msgs/joints_move.h"
00022 #include <tf/transform_broadcaster.h>
00023 #include <tf/transform_listener.h>
00024 #include "tf/transform_datatypes.h"
00025 
00026 class WamTutorial {
00027     public:
00028       WamTutorial();
00029       
00030       void mainLoop();
00031 
00032     private:
00033       bool gocenter;
00034       int numtargets;
00035       int targetid;
00036       std::vector<double> angles;
00037       ros::NodeHandle nh_;
00038       ros::Publisher tf_publisher;
00039       tf::TransformListener listener;
00040       tf::tfMessage tfMessage_msg;
00041   //    std::vector<Eigen::Matrix4f> transforms;
00042       std::vector<Eigen::Matrix4f,Eigen::aligned_allocator<Eigen::Matrix4f> > transforms;
00043   
00044       ros::Subscriber joint_states_subscriber;
00045       void joint_states_callback(const sensor_msgs::JointState::ConstPtr& msg);
00046       ros::Subscriber pose_subscriber;
00047       void pose_callback(const geometry_msgs::PoseStamped::ConstPtr& msg);
00048 
00049       ros::ServiceClient pose_move2_client;
00050       iri_wam_common_msgs::pose_move pose_move2_srv;
00051       ros::ServiceClient pose_move_client;
00052       iri_wam_common_msgs::pose_move pose_move_srv;
00053       ros::ServiceClient joint_move_client;
00054       iri_wam_common_msgs::joints_move joint_move_srv;
00055 
00056       void calculate_error(std::string target);
00057   
00058   
00059 };
00060 #endif


iri_wam_tutorial
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autogenerated on Fri Dec 6 2013 20:18:18