katana::KatanaGripperGraspController Class Reference

#include <katana_gripper_grasp_controller.h>

List of all members.

Public Member Functions
	KatanaGripperGraspController (boost::shared_ptr< AbstractKatana > katana)
virtual	~KatanaGripperGraspController ()
Private Member Functions
void	executeCB (const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr &goal)
bool	serviceCallback (object_manipulation_msgs::GraspStatus::Request &request, object_manipulation_msgs::GraspStatus::Response &response)
Private Attributes
actionlib::SimpleActionServer < object_manipulation_msgs::GraspHandPostureExecutionAction > *	action_server_
	Action server for the grasp posture action.
double	gripper_object_presence_threshold_
	A joint angle below this value indicates there is nothing inside the gripper.
boost::shared_ptr< AbstractKatana >	katana_
bool	last_command_was_close_
ros::ServiceServer	query_srv_
	Server for the posture query service.

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Detailed Description

Definition at line 43 of file katana_gripper_grasp_controller.h.

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Constructor & Destructor Documentation

katana::KatanaGripperGraspController::KatanaGripperGraspController

(

boost::shared_ptr< AbstractKatana >

katana

)

Definition at line 33 of file katana_gripper_grasp_controller.cpp.

katana::KatanaGripperGraspController::~KatanaGripperGraspController

(

)

[virtual]

Definition at line 53 of file katana_gripper_grasp_controller.cpp.

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Member Function Documentation

void katana::KatanaGripperGraspController::executeCB

(

const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr &

goal

)

[private]

Definition at line 58 of file katana_gripper_grasp_controller.cpp.

bool katana::KatanaGripperGraspController::serviceCallback	(	object_manipulation_msgs::GraspStatus::Request &	request,
		object_manipulation_msgs::GraspStatus::Response &	response
	)		[private]

Definition at line 140 of file katana_gripper_grasp_controller.cpp.

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Member Data Documentation

actionlib::SimpleActionServer<object_manipulation_msgs::GraspHandPostureExecutionAction>* katana::KatanaGripperGraspController::action_server_ [private]

Action server for the grasp posture action.

Definition at line 51 of file katana_gripper_grasp_controller.h.

double katana::KatanaGripperGraspController::gripper_object_presence_threshold_ [private]

A joint angle below this value indicates there is nothing inside the gripper.

Definition at line 61 of file katana_gripper_grasp_controller.h.

boost::shared_ptr<AbstractKatana> katana::KatanaGripperGraspController::katana_ [private]

Definition at line 56 of file katana_gripper_grasp_controller.h.

bool katana::KatanaGripperGraspController::last_command_was_close_ [private]

Definition at line 58 of file katana_gripper_grasp_controller.h.

ros::ServiceServer katana::KatanaGripperGraspController::query_srv_ [private]

Server for the posture query service.

Definition at line 54 of file katana_gripper_grasp_controller.h.

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

• katana_gripper_grasp_controller.h
• katana_gripper_grasp_controller.cpp