ArmMPC Class Reference

List of all members.

Public Member Functions
	ArmMPC (ros::NodeHandle &nh)
void	close_gripper (bool wait=false)
void	mpc_callback (const motld::TrackedObjectsConstPtr &objects)
void	open_gripper (bool wait=false)
	~ArmMPC ()
Private Attributes
VectorT	center_
GripperClient *	close_gripper_
int	curr_t_
Trajectory	curr_traj_
float	eps_
std::string	gripper_action_topic_
std::string	gripper_close_topic_
std::string	gripper_frame_
geometry_msgs::PoseStamped	gripper_pose_
ros::Publisher	gripper_pose_pub_
bool	initialized_
VectorT	last_goal_
bool	last_goal_set_
VectorT	last_pos_
bool	last_pos_set_
int	m
ros::Publisher	marker_pub_
std::string	marker_topic_
float	max_mov_dist_
int	n
int	N
ros::NodeHandle	nh_
ros::Subscriber	obj_sub_
std::string	object_topic_
pr2_arm_ik::Obstacles *	obs_
bool	on_way_to_goal_
DDPParams	params
ros::NodeHandle	private_nh_
bool	restart_ddp_
std::string	root_frame_
tf::TransformBroadcaster *	tf_broadcaster_
tf::TransformListener *	tf_transformer_
MatrixT	u0_

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Detailed Description

Definition at line 30 of file mpc_node.cpp.

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Constructor & Destructor Documentation

ArmMPC::ArmMPC

(

ros::NodeHandle &

nh

)

[inline]

*

Definition at line 74 of file mpc_node.cpp.

ArmMPC::~ArmMPC

(

)

[inline]

Definition at line 144 of file mpc_node.cpp.

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Member Function Documentation

void ArmMPC::close_gripper

(

bool

wait = false

)

[inline]

Definition at line 164 of file mpc_node.cpp.

void ArmMPC::mpc_callback

(

const motld::TrackedObjectsConstPtr &

objects

)

[inline]

Definition at line 179 of file mpc_node.cpp.

void ArmMPC::open_gripper

(

bool

wait = false

)

[inline]

Definition at line 149 of file mpc_node.cpp.

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Member Data Documentation

VectorT ArmMPC::center_ [private]

Definition at line 34 of file mpc_node.cpp.

GripperClient* ArmMPC::close_gripper_ [private]

Definition at line 60 of file mpc_node.cpp.

int ArmMPC::curr_t_ [private]

Definition at line 42 of file mpc_node.cpp.

Trajectory ArmMPC::curr_traj_ [private]

Definition at line 57 of file mpc_node.cpp.

float ArmMPC::eps_ [private]

Definition at line 44 of file mpc_node.cpp.

std::string ArmMPC::gripper_action_topic_ [private]

Definition at line 69 of file mpc_node.cpp.

std::string ArmMPC::gripper_close_topic_ [private]

Definition at line 70 of file mpc_node.cpp.

std::string ArmMPC::gripper_frame_ [private]

Definition at line 67 of file mpc_node.cpp.

geometry_msgs::PoseStamped ArmMPC::gripper_pose_ [private]

Definition at line 59 of file mpc_node.cpp.

ros::Publisher ArmMPC::gripper_pose_pub_ [private]

Definition at line 40 of file mpc_node.cpp.

bool ArmMPC::initialized_ [private]

Definition at line 33 of file mpc_node.cpp.

VectorT ArmMPC::last_goal_ [private]

Definition at line 50 of file mpc_node.cpp.

bool ArmMPC::last_goal_set_ [private]

Definition at line 48 of file mpc_node.cpp.

VectorT ArmMPC::last_pos_ [private]

Definition at line 51 of file mpc_node.cpp.

bool ArmMPC::last_pos_set_ [private]

Definition at line 49 of file mpc_node.cpp.

int ArmMPC::m [private]

Definition at line 54 of file mpc_node.cpp.

ros::Publisher ArmMPC::marker_pub_ [private]

Definition at line 41 of file mpc_node.cpp.

std::string ArmMPC::marker_topic_ [private]

Definition at line 71 of file mpc_node.cpp.

float ArmMPC::max_mov_dist_ [private]

Definition at line 45 of file mpc_node.cpp.

int ArmMPC::n [private]

Definition at line 54 of file mpc_node.cpp.

int ArmMPC::N [private]

Definition at line 54 of file mpc_node.cpp.

ros::NodeHandle ArmMPC::nh_ [private]

Definition at line 62 of file mpc_node.cpp.

ros::Subscriber ArmMPC::obj_sub_ [private]

Definition at line 38 of file mpc_node.cpp.

std::string ArmMPC::object_topic_ [private]

Definition at line 68 of file mpc_node.cpp.

pr2_arm_ik::Obstacles* ArmMPC::obs_ [private]

Definition at line 52 of file mpc_node.cpp.

bool ArmMPC::on_way_to_goal_ [private]

Definition at line 47 of file mpc_node.cpp.

DDPParams ArmMPC::params [private]

Definition at line 56 of file mpc_node.cpp.

ros::NodeHandle ArmMPC::private_nh_ [private]

Definition at line 63 of file mpc_node.cpp.

bool ArmMPC::restart_ddp_ [private]

Definition at line 55 of file mpc_node.cpp.

std::string ArmMPC::root_frame_ [private]

Definition at line 66 of file mpc_node.cpp.

tf::TransformBroadcaster* ArmMPC::tf_broadcaster_ [private]

Definition at line 35 of file mpc_node.cpp.

tf::TransformListener* ArmMPC::tf_transformer_ [private]

Definition at line 36 of file mpc_node.cpp.

MatrixT ArmMPC::u0_ [private]

Definition at line 58 of file mpc_node.cpp.

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

• mpc_node.cpp