JointSplineTrajectoryGenerator Class Reference

#include <JointSplineTrajectoryGenerator.h>

List of all members.

Public Member Functions
virtual bool	configureHook ()
	JointSplineTrajectoryGenerator (const std::string &name)
virtual bool	startHook ()
virtual void	updateHook ()
virtual	~JointSplineTrajectoryGenerator ()
Protected Attributes
RTT::OutputPort< bool >	buffer_ready_port_
RTT::InputPort< std::vector < double > >	cmd_jnt_pos_port_
RTT::InputPort< double >	command_period_port_
RTT::OutputPort< std::vector < double > >	jnt_pos_port_
RTT::Property< int >	number_of_joints_prop_
RTT::OutputPort< bool >	trajectory_compleat_port_
RTT::InputPort < trajectory_msgs::JointTrajectoryPoint >	trajectory_point_port_
Private Attributes
bool	buffer_ready_
std::vector< double >	des_jnt_pos_
double	dt_
int64_t	end_time_
unsigned int	number_of_joints_
int64_t	time_
trajectory_msgs::JointTrajectoryPoint	trajectory_new_
trajectory_msgs::JointTrajectoryPoint	trajectory_old_
bool	trajectory_ready_
std::vector < KDL::VelocityProfile_Spline >	vel_profile_

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Detailed Description

Definition at line 52 of file JointSplineTrajectoryGenerator.h.

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Constructor & Destructor Documentation

JointSplineTrajectoryGenerator::JointSplineTrajectoryGenerator

(

const std::string &

name

)

[explicit]

Definition at line 44 of file JointSplineTrajectoryGenerator.cpp.

JointSplineTrajectoryGenerator::~JointSplineTrajectoryGenerator

(

)

[virtual]

Definition at line 58 of file JointSplineTrajectoryGenerator.cpp.

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Member Function Documentation

bool JointSplineTrajectoryGenerator::configureHook

(

)

[virtual]

Definition at line 63 of file JointSplineTrajectoryGenerator.cpp.

bool JointSplineTrajectoryGenerator::startHook

(

)

[virtual]

Definition at line 97 of file JointSplineTrajectoryGenerator.cpp.

void JointSplineTrajectoryGenerator::updateHook

(

)

[virtual]

Definition at line 112 of file JointSplineTrajectoryGenerator.cpp.

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Member Data Documentation

bool JointSplineTrajectoryGenerator::buffer_ready_ [private]

Definition at line 84 of file JointSplineTrajectoryGenerator.h.

RTT::OutputPort<bool> JointSplineTrajectoryGenerator::buffer_ready_port_ [protected]

Definition at line 63 of file JointSplineTrajectoryGenerator.h.

RTT::InputPort<std::vector<double> > JointSplineTrajectoryGenerator::cmd_jnt_pos_port_ [protected]

Definition at line 66 of file JointSplineTrajectoryGenerator.h.

RTT::InputPort<double> JointSplineTrajectoryGenerator::command_period_port_ [protected]

Definition at line 70 of file JointSplineTrajectoryGenerator.h.

std::vector<double> JointSplineTrajectoryGenerator::des_jnt_pos_ [private]

Definition at line 80 of file JointSplineTrajectoryGenerator.h.

double JointSplineTrajectoryGenerator::dt_ [private]

Definition at line 88 of file JointSplineTrajectoryGenerator.h.

int64_t JointSplineTrajectoryGenerator::end_time_ [private]

Definition at line 87 of file JointSplineTrajectoryGenerator.h.

RTT::OutputPort<std::vector<double> > JointSplineTrajectoryGenerator::jnt_pos_port_ [protected]

Definition at line 65 of file JointSplineTrajectoryGenerator.h.

unsigned int JointSplineTrajectoryGenerator::number_of_joints_ [private]

Definition at line 82 of file JointSplineTrajectoryGenerator.h.

RTT::Property<int> JointSplineTrajectoryGenerator::number_of_joints_prop_ [protected]

Definition at line 72 of file JointSplineTrajectoryGenerator.h.

int64_t JointSplineTrajectoryGenerator::time_ [private]

Definition at line 86 of file JointSplineTrajectoryGenerator.h.

RTT::OutputPort<bool> JointSplineTrajectoryGenerator::trajectory_compleat_port_ [protected]

Definition at line 68 of file JointSplineTrajectoryGenerator.h.

trajectory_msgs::JointTrajectoryPoint JointSplineTrajectoryGenerator::trajectory_new_ [private]

Definition at line 78 of file JointSplineTrajectoryGenerator.h.

trajectory_msgs::JointTrajectoryPoint JointSplineTrajectoryGenerator::trajectory_old_ [private]

Definition at line 77 of file JointSplineTrajectoryGenerator.h.

RTT::InputPort<trajectory_msgs::JointTrajectoryPoint> JointSplineTrajectoryGenerator::trajectory_point_port_ [protected]

Definition at line 62 of file JointSplineTrajectoryGenerator.h.

bool JointSplineTrajectoryGenerator::trajectory_ready_ [private]

Definition at line 83 of file JointSplineTrajectoryGenerator.h.

std::vector<KDL::VelocityProfile_Spline> JointSplineTrajectoryGenerator::vel_profile_ [private]

Definition at line 75 of file JointSplineTrajectoryGenerator.h.

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

• JointSplineTrajectoryGenerator.h
• JointSplineTrajectoryGenerator.cpp