robot Class Reference

Main robot control object. More...

#include <robot.h>

List of all members.

Public Member Functions
void	checkTF ()
void	reset_left ()
void	reset_right ()
	robot ()
Private Member Functions
void	move_arm_to_pose (float x, float y, float z, std::string frame, std::string group)
Private Attributes
float	last_x
float	last_y
float	last_z
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_l_arm
actionlib::SimpleActionClient < arm_navigation_msgs::MoveArmAction >	move_r_arm
ros::NodeHandle	node
ros::Time	t
tf::TransformListener	tfl

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Detailed Description

Main robot control object.

The robot class controls the robot in response to the object recognition.

Definition at line 32 of file robot.h.

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Constructor & Destructor Documentation

robot::robot

(

)

Creates a robot. This will listen to changes in the TF tree.

Definition at line 20 of file robot.cpp.

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Member Function Documentation

void robot::checkTF

(

)

Checks the TF tree for a new object position.

Definition at line 106 of file robot.cpp.

void robot::move_arm_to_pose	(	float	x,
		float	y,
		float	z,
		std::string	frame,
		std::string	group
	)		[private]

Move the given arm to the given pose based on the given reference frame.

Parameters:

x	the X position in meters
y	the Y position in meters
z	the Z position in meters
frame	the reference to move the arm with respect to
group	the group name for the arm joints

Definition at line 48 of file robot.cpp.

void robot::reset_left

(

)

Reset the left arm to its start position.

Definition at line 42 of file robot.cpp.

void robot::reset_right

(

)

Reset the right arm to its start position.

Definition at line 36 of file robot.cpp.

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Member Data Documentation

float robot::last_x [private]

Definition at line 74 of file robot.h.

float robot::last_y [private]

Definition at line 74 of file robot.h.

float robot::last_z [private]

last known location of the object

Definition at line 74 of file robot.h.

actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> robot::move_l_arm [private]

Definition at line 72 of file robot.h.

actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> robot::move_r_arm [private]

used to move the robot's arms

Definition at line 72 of file robot.h.

ros::NodeHandle robot::node [private]

main ROS node handle

Definition at line 67 of file robot.h.

ros::Time robot::t [private]

used to keep track of the last TF seen

Definition at line 69 of file robot.h.

tf::TransformListener robot::tfl [private]

used to keep track of the object in 3D space

Definition at line 71 of file robot.h.

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

• robot.h
• robot.cpp