#include <joint_movement_adapter.h>

Public Member Functions
void	executeCB (const JMAS::GoalConstPtr &goal)
	JointMovementAdapter (std::string name)
void	jointStateCb (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &state)
virtual	~JointMovementAdapter ()
Private Types
typedef actionlib::SimpleActionServer < katana_msgs::JointMovementAction >	JMAS
typedef actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction >	JTAC
Private Member Functions
sensor_msgs::JointState	limitJointStates (const sensor_msgs::JointState &jointGoal)
pr2_controllers_msgs::JointTrajectoryGoal	makeFullTrajectory (const pr2_controllers_msgs::JointTrajectoryGoal &goal)
pr2_controllers_msgs::JointTrajectoryGoal	makeRoughTrajectory (const sensor_msgs::JointState &jointGoal)
Private Attributes
JTAC	ac_
JMAS	as_
std::map< std::string, double >	current_state_
bool	got_state_
double	max_acc_
double	max_vel_
sensor_msgs::JointState	movement_goal_
boost::mutex	mutex_
urdf::Model	robot_model_
ros::Subscriber	state_sub_

Detailed Description

Definition at line 52 of file joint_movement_adapter.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<katana_msgs::JointMovementAction> katana_joint_movement_adapter::JointMovementAdapter::JMAS [private]

Definition at line 54 of file joint_movement_adapter.h.

typedef actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction> katana_joint_movement_adapter::JointMovementAdapter::JTAC [private]

Definition at line 55 of file joint_movement_adapter.h.

Constructor & Destructor Documentation

katana_joint_movement_adapter::JointMovementAdapter::JointMovementAdapter ( std::string name )

Definition at line 35 of file joint_movement_adapter.cpp.

katana_joint_movement_adapter::JointMovementAdapter::~JointMovementAdapter ( ) [virtual]

Definition at line 71 of file joint_movement_adapter.cpp.

Member Function Documentation

void katana_joint_movement_adapter::JointMovementAdapter::executeCB ( const JMAS::GoalConstPtr & goal )

Definition at line 85 of file joint_movement_adapter.cpp.

void katana_joint_movement_adapter::JointMovementAdapter::jointStateCb ( const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr & state )

Definition at line 75 of file joint_movement_adapter.cpp.

sensor_msgs::JointState katana_joint_movement_adapter::JointMovementAdapter::limitJointStates ( const sensor_msgs::JointState & jointGoal ) [private]

Definition at line 269 of file joint_movement_adapter.cpp.

pr2_controllers_msgs::JointTrajectoryGoal katana_joint_movement_adapter::JointMovementAdapter::makeFullTrajectory ( const pr2_controllers_msgs::JointTrajectoryGoal & goal ) [private]

Definition at line 198 of file joint_movement_adapter.cpp.

pr2_controllers_msgs::JointTrajectoryGoal katana_joint_movement_adapter::JointMovementAdapter::makeRoughTrajectory ( const sensor_msgs::JointState & jointGoal ) [private]

Definition at line 154 of file joint_movement_adapter.cpp.