Public Member Functions | |
virtual const std::vector< int > & | GetControlDOFIndices () const |
virtual RobotBasePtr | GetRobot () const |
virtual dReal | GetTime () const |
virtual void | GetTorque (std::vector< dReal > &torque) const |
virtual void | GetVelocity (std::vector< dReal > &vel) const |
virtual bool | Init (RobotBasePtr robot, const std::vector< int > &dofindices, int nControlTransformation) |
virtual int | IsControlTransformation () const |
virtual bool | IsDone () |
virtual void | Reset (int options) |
ROSPassiveController (EnvironmentBasePtr penv, std::istream &ss) | |
virtual bool | SetDesired (const std::vector< dReal > &values, TransformConstPtr trans) |
virtual bool | SetPath (TrajectoryBaseConstPtr ptraj) |
virtual void | SimulationStep (dReal fTimeElapsed) |
virtual | ~ROSPassiveController () |
Protected Member Functions | |
virtual void | _Destroy () |
virtual void | _jointstatecb (const sensor_msgs::JointStateConstPtr &jstate) |
virtual void | _threadrosfn () |
Protected Attributes | |
bool | _bDestroyThread |
dReal | _controllertime |
std::vector< int > | _dofindices |
string | _jointstatetopic |
boost::mutex | _mutex |
int | _nControlTransformation |
boost::shared_ptr < ros::NodeHandle > | _node |
RobotBasePtr | _probot |
ros::Time | _starttime |
ros::Subscriber | _subjointstate |
boost::thread | _threadros |
vector< pair< string, int > > | _vjointnames |
vector< dReal > | _vlastjointtorque |
vector< dReal > | _vlastjointvalues |
vector< dReal > | _vlastjointvel |
Definition at line 38 of file rospassivecontroller.cpp.
ROSPassiveController::ROSPassiveController | ( | EnvironmentBasePtr | penv, |
std::istream & | ss | ||
) | [inline] |
Definition at line 41 of file rospassivecontroller.cpp.
virtual ROSPassiveController::~ROSPassiveController | ( | ) | [inline, virtual] |
Definition at line 61 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::_Destroy | ( | ) | [inline, protected, virtual] |
Definition at line 149 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::_jointstatecb | ( | const sensor_msgs::JointStateConstPtr & | jstate | ) | [inline, protected, virtual] |
Definition at line 159 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::_threadrosfn | ( | ) | [inline, protected, virtual] |
Definition at line 195 of file rospassivecontroller.cpp.
virtual const std::vector<int>& ROSPassiveController::GetControlDOFIndices | ( | ) | const [inline, virtual] |
Definition at line 95 of file rospassivecontroller.cpp.
virtual RobotBasePtr ROSPassiveController::GetRobot | ( | ) | const [inline, virtual] |
Definition at line 144 of file rospassivecontroller.cpp.
virtual dReal ROSPassiveController::GetTime | ( | ) | const [inline, virtual] |
Definition at line 129 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::GetTorque | ( | std::vector< dReal > & | torque | ) | const [inline, virtual] |
Definition at line 139 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::GetVelocity | ( | std::vector< dReal > & | vel | ) | const [inline, virtual] |
Definition at line 134 of file rospassivecontroller.cpp.
virtual bool ROSPassiveController::Init | ( | RobotBasePtr | robot, |
const std::vector< int > & | dofindices, | ||
int | nControlTransformation | ||
) | [inline, virtual] |
Definition at line 65 of file rospassivecontroller.cpp.
virtual int ROSPassiveController::IsControlTransformation | ( | ) | const [inline, virtual] |
Definition at line 99 of file rospassivecontroller.cpp.
virtual bool ROSPassiveController::IsDone | ( | ) | [inline, virtual] |
Definition at line 124 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::Reset | ( | int | options | ) | [inline, virtual] |
Definition at line 104 of file rospassivecontroller.cpp.
virtual bool ROSPassiveController::SetDesired | ( | const std::vector< dReal > & | values, |
TransformConstPtr | trans | ||
) | [inline, virtual] |
Definition at line 110 of file rospassivecontroller.cpp.
virtual bool ROSPassiveController::SetPath | ( | TrajectoryBaseConstPtr | ptraj | ) | [inline, virtual] |
Definition at line 115 of file rospassivecontroller.cpp.
virtual void ROSPassiveController::SimulationStep | ( | dReal | fTimeElapsed | ) | [inline, virtual] |
Definition at line 120 of file rospassivecontroller.cpp.
bool ROSPassiveController::_bDestroyThread [protected] |
Definition at line 203 of file rospassivecontroller.cpp.
dReal ROSPassiveController::_controllertime [protected] |
Definition at line 211 of file rospassivecontroller.cpp.
std::vector<int> ROSPassiveController::_dofindices [protected] |
Definition at line 212 of file rospassivecontroller.cpp.
string ROSPassiveController::_jointstatetopic [protected] |
Definition at line 214 of file rospassivecontroller.cpp.
boost::mutex ROSPassiveController::_mutex [mutable, protected] |
Definition at line 215 of file rospassivecontroller.cpp.
int ROSPassiveController::_nControlTransformation [protected] |
Definition at line 213 of file rospassivecontroller.cpp.
boost::shared_ptr<ros::NodeHandle> ROSPassiveController::_node [protected] |
Definition at line 205 of file rospassivecontroller.cpp.
RobotBasePtr ROSPassiveController::_probot [protected] |
Definition at line 204 of file rospassivecontroller.cpp.
ros::Time ROSPassiveController::_starttime [protected] |
Definition at line 210 of file rospassivecontroller.cpp.
ros::Subscriber ROSPassiveController::_subjointstate [protected] |
Definition at line 207 of file rospassivecontroller.cpp.
boost::thread ROSPassiveController::_threadros [protected] |
Definition at line 206 of file rospassivecontroller.cpp.
vector< pair<string,int> > ROSPassiveController::_vjointnames [protected] |
Definition at line 209 of file rospassivecontroller.cpp.
vector<dReal> ROSPassiveController::_vlastjointtorque [protected] |
Definition at line 208 of file rospassivecontroller.cpp.
vector<dReal> ROSPassiveController::_vlastjointvalues [protected] |
Definition at line 208 of file rospassivecontroller.cpp.
vector<dReal> ROSPassiveController::_vlastjointvel [protected] |
Definition at line 208 of file rospassivecontroller.cpp.