RobotArm Class Reference

List of all members.

Public Member Functions
pr2_controllers_msgs::JointTrajectoryGoal	armExtensionTrajectory ()
	Generates a simple trajectory with two waypoints, used as an example.
actionlib::SimpleClientGoalState	getState ()
	Returns the current state of the action.
	RobotArm ()
	Initialize the action client and wait for action server to come up.
void	startTrajectory (pr2_controllers_msgs::JointTrajectoryGoal goal)
	Sends the command to start a given trajectory.
	~RobotArm ()
	Clean up the action client.
Private Attributes
TrajClient *	traj_client_

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Detailed Description

Definition at line 14 of file move_pr2.cpp.

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Constructor & Destructor Documentation

RobotArm::RobotArm

(

)

[inline]

Initialize the action client and wait for action server to come up.

Definition at line 23 of file move_pr2.cpp.

RobotArm::~RobotArm

(

)

[inline]

Clean up the action client.

Definition at line 35 of file move_pr2.cpp.

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Member Function Documentation

pr2_controllers_msgs::JointTrajectoryGoal RobotArm::armExtensionTrajectory

(

)

[inline]

Generates a simple trajectory with two waypoints, used as an example.

Note that this trajectory contains two waypoints, joined together as a single trajectory. Alternatively, each of these waypoints could be in its own trajectory - a trajectory can have one or more waypoints depending on the desired application.

Definition at line 59 of file move_pr2.cpp.

actionlib::SimpleClientGoalState RobotArm::getState

(

)

[inline]

Returns the current state of the action.

Definition at line 109 of file move_pr2.cpp.

void RobotArm::startTrajectory

(

pr2_controllers_msgs::JointTrajectoryGoal

goal

)

[inline]

Sends the command to start a given trajectory.

Definition at line 41 of file move_pr2.cpp.

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Member Data Documentation

TrajClient* RobotArm::traj_client_ [private]

Definition at line 19 of file move_pr2.cpp.

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

• move_pr2.cpp