#include <CartImpTrajectory.h>
Definition at line 29 of file src/CartImpTrajectory.h.
lwr::CartImpTrajectory::CartImpTrajectory | ( | const std::string & | name | ) |
Definition at line 15 of file CartImpTrajectory.cpp.
lwr::CartImpTrajectory::~CartImpTrajectory | ( | ) | [virtual] |
Definition at line 28 of file CartImpTrajectory.cpp.
void lwr::CartImpTrajectory::cleanupHook | ( | ) | [virtual] |
Definition at line 36 of file CartImpTrajectory.cpp.
bool lwr::CartImpTrajectory::configureHook | ( | ) | [virtual] |
Definition at line 32 of file CartImpTrajectory.cpp.
double lwr::CartImpTrajectory::linearlyInterpolate | ( | double | time, |
double | startTime, | ||
double | endTime, | ||
double | startValue, | ||
double | endValue | ||
) | [private] |
Definition at line 148 of file CartImpTrajectory.cpp.
lwr_impedance_controller::CartImpTrajectoryPoint lwr::CartImpTrajectory::sampleInterpolation | ( | ) | [private] |
Definition at line 159 of file CartImpTrajectory.cpp.
bool lwr::CartImpTrajectory::startHook | ( | ) | [virtual] |
Definition at line 40 of file CartImpTrajectory.cpp.
void lwr::CartImpTrajectory::stopHook | ( | ) | [virtual] |
Definition at line 103 of file CartImpTrajectory.cpp.
void lwr::CartImpTrajectory::updateHook | ( | ) | [virtual] |
do interpolation
Definition at line 107 of file CartImpTrajectory.cpp.
Definition at line 63 of file src/CartImpTrajectory.h.
Definition at line 62 of file src/CartImpTrajectory.h.
Definition at line 63 of file src/CartImpTrajectory.h.
double lwr::CartImpTrajectory::dt_ [private] |
Definition at line 69 of file src/CartImpTrajectory.h.
Definition at line 67 of file src/CartImpTrajectory.h.
InputPort<lwr_impedance_controller::CartImpTrajectory> lwr::CartImpTrajectory::port_cart_imp_trajectory_cmd [private] |
Definition at line 49 of file src/CartImpTrajectory.h.
InputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_cart_pos_msr [private] |
Definition at line 50 of file src/CartImpTrajectory.h.
OutputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_cart_position_cmd [private] |
Definition at line 55 of file src/CartImpTrajectory.h.
OutputPort<geometry_msgs::Wrench> lwr::CartImpTrajectory::port_cart_wrench_cmd [private] |
Definition at line 54 of file src/CartImpTrajectory.h.
OutputPort<lwr_impedance_controller::CartesianImpedance> lwr::CartImpTrajectory::port_cartesian_impedance_cmd [private] |
Definition at line 53 of file src/CartImpTrajectory.h.
InputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_desired_cartesian_position [private] |
Definition at line 51 of file src/CartImpTrajectory.h.
OutputPort<geometry_msgs::Pose> lwr::CartImpTrajectory::port_tool_frame [private] |
Definition at line 56 of file src/CartImpTrajectory.h.
Definition at line 58 of file src/CartImpTrajectory.h.
unsigned int lwr::CartImpTrajectory::time_ [private] |
Definition at line 68 of file src/CartImpTrajectory.h.
KDL::Frame lwr::CartImpTrajectory::tool_frame [private] |
Definition at line 63 of file src/CartImpTrajectory.h.
Definition at line 60 of file src/CartImpTrajectory.h.
unsigned int lwr::CartImpTrajectory::trajectory_index_ [private] |
Definition at line 66 of file src/CartImpTrajectory.h.
Definition at line 59 of file src/CartImpTrajectory.h.
Definition at line 65 of file src/CartImpTrajectory.h.