mtconnect_cnc_robot_example::MoveArmActionClient Class Reference

#include <MoveArmActionClient.h>

Inheritance diagram for mtconnect_cnc_robot_example::MoveArmActionClient:

List of all members.

Public Member Functions
virtual bool	fetchParameters (std::string nameSpace="")
virtual bool	moveArm (const geometry_msgs::PoseArray &cartesian_poses, bool wait_for_completion=true)
	MoveArmActionClient ()
virtual void	run ()
virtual void	timerCallback (const ros::TimerEvent &evnt)
virtual	~MoveArmActionClient ()
Protected Member Functions
bool	getArmInfo (const planning_environment::CollisionModels *models, const std::string &arm_group, std::string &base_link, std::string &tip_link)
virtual bool	getArmStartState (std::string group_name, arm_navigation_msgs::RobotState &robot_state)
bool	getPoseInArmSpace (const CartesianGoal &cartesian_goal, geometry_msgs::Pose &base_to_tip_pose)
bool	getTrajectoryInArmSpace (const CartesianTrajectory &cartesian_traj, geometry_msgs::PoseArray &base_to_tip_poses)
virtual bool	setup ()
Protected Attributes
std::string	arm_group_
KinematicStatePtr	arm_kinematic_state_ptr_
std::string	base_link_frame_id_
CartesianTrajectory	cartesian_traj_
CollisionModelsPtr	collision_models_ptr_
MoveArmClientPtr	move_arm_client_ptr_
arm_navigation_msgs::MoveArmGoal	move_arm_goal_
arm_navigation_msgs::SimplePoseConstraint	move_pose_constraint_
nav_msgs::Path	path_msg_
ros::Publisher	path_pub_
ros::ServiceClient	planning_scene_client_
ros::Timer	publish_timer_
tf::TransformListener	tf_listener_
std::string	tip_link_frame_id_

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Detailed Description

Definition at line 71 of file MoveArmActionClient.h.

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Constructor & Destructor Documentation

MoveArmActionClient::MoveArmActionClient

(

)

Definition at line 23 of file MoveArmActionClient.cpp.

MoveArmActionClient::~MoveArmActionClient

(

)

[virtual]

Definition at line 30 of file MoveArmActionClient.cpp.

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Member Function Documentation

bool MoveArmActionClient::fetchParameters

(

std::string

nameSpace = ""

)

[virtual]

Reimplemented in mtconnect_cnc_robot_example::state_machine::StateMachine, MovePickPlaceTest, and mtconnect_cnc_robot_example::MovePickPlaceServer.

Definition at line 121 of file MoveArmActionClient.cpp.

bool MoveArmActionClient::getArmInfo	(	const planning_environment::CollisionModels *	models,
		const std::string &	arm_group,
		std::string &	base_link,
		std::string &	tip_link
	)		[protected]

Definition at line 229 of file MoveArmActionClient.cpp.

bool MoveArmActionClient::getArmStartState	(	std::string	group_name,
		arm_navigation_msgs::RobotState &	robot_state
	)		[protected, virtual]

Definition at line 139 of file MoveArmActionClient.cpp.

bool MoveArmActionClient::getPoseInArmSpace	(	const CartesianGoal &	cartesian_goal,
		geometry_msgs::Pose &	base_to_tip_pose
	)		[protected]

Definition at line 288 of file MoveArmActionClient.cpp.

bool MoveArmActionClient::getTrajectoryInArmSpace	(	const CartesianTrajectory &	cartesian_traj,
		geometry_msgs::PoseArray &	base_to_tip_poses
	)		[protected]

Definition at line 318 of file MoveArmActionClient.cpp.

bool MoveArmActionClient::moveArm	(	const geometry_msgs::PoseArray &	cartesian_poses,
		bool	wait_for_completion = true
	)		[virtual]

Definition at line 67 of file MoveArmActionClient.cpp.

void MoveArmActionClient::run

(

void

)

[virtual]

Reimplemented in mtconnect_cnc_robot_example::state_machine::StateMachine, mtconnect_cnc_robot_example::MovePickPlaceServer, and MovePickPlaceTest.

Definition at line 35 of file MoveArmActionClient.cpp.

bool MoveArmActionClient::setup

(

void

)

[protected, virtual]

Reimplemented in mtconnect_cnc_robot_example::state_machine::StateMachine, and mtconnect_cnc_robot_example::MovePickPlaceServer.

Definition at line 173 of file MoveArmActionClient.cpp.

void MoveArmActionClient::timerCallback

(

const ros::TimerEvent &

evnt

)

[virtual]

Definition at line 129 of file MoveArmActionClient.cpp.

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Member Data Documentation

std::string mtconnect_cnc_robot_example::MoveArmActionClient::arm_group_ [protected]

Definition at line 130 of file MoveArmActionClient.h.

KinematicStatePtr mtconnect_cnc_robot_example::MoveArmActionClient::arm_kinematic_state_ptr_ [protected]

Definition at line 124 of file MoveArmActionClient.h.

std::string mtconnect_cnc_robot_example::MoveArmActionClient::base_link_frame_id_ [protected]

Definition at line 125 of file MoveArmActionClient.h.

CartesianTrajectory mtconnect_cnc_robot_example::MoveArmActionClient::cartesian_traj_ [protected]

Definition at line 129 of file MoveArmActionClient.h.

CollisionModelsPtr mtconnect_cnc_robot_example::MoveArmActionClient::collision_models_ptr_ [protected]

Definition at line 123 of file MoveArmActionClient.h.

MoveArmClientPtr mtconnect_cnc_robot_example::MoveArmActionClient::move_arm_client_ptr_ [protected]

Definition at line 105 of file MoveArmActionClient.h.

arm_navigation_msgs::MoveArmGoal mtconnect_cnc_robot_example::MoveArmActionClient::move_arm_goal_ [protected]

Definition at line 133 of file MoveArmActionClient.h.

arm_navigation_msgs::SimplePoseConstraint mtconnect_cnc_robot_example::MoveArmActionClient::move_pose_constraint_ [protected]

Definition at line 134 of file MoveArmActionClient.h.

nav_msgs::Path mtconnect_cnc_robot_example::MoveArmActionClient::path_msg_ [protected]

Definition at line 117 of file MoveArmActionClient.h.

ros::Publisher mtconnect_cnc_robot_example::MoveArmActionClient::path_pub_ [protected]

Definition at line 111 of file MoveArmActionClient.h.

ros::ServiceClient mtconnect_cnc_robot_example::MoveArmActionClient::planning_scene_client_ [protected]

Definition at line 108 of file MoveArmActionClient.h.

ros::Timer mtconnect_cnc_robot_example::MoveArmActionClient::publish_timer_ [protected]

Definition at line 114 of file MoveArmActionClient.h.

tf::TransformListener mtconnect_cnc_robot_example::MoveArmActionClient::tf_listener_ [protected]

Definition at line 120 of file MoveArmActionClient.h.

std::string mtconnect_cnc_robot_example::MoveArmActionClient::tip_link_frame_id_ [protected]

Definition at line 126 of file MoveArmActionClient.h.

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

• MoveArmActionClient.h
• MoveArmActionClient.cpp