pr2_joint_space::RightArmModel Class Reference

#include <pr2_joint_space.h>

List of all members.

Public Member Functions
float	cost (const VectorT &x, const VectorT &u)
void	dynamics (const VectorT &x, const VectorT &u, VectorT &xNext)
void	dynamicsD (const VectorT &x, const VectorT &u, Deriv &d)
void	fk (const VectorT &x, VectorT &res)
void	ik (const VectorT &pos, VectorT &x)
	RightArmModel (ros::NodeHandle &n, std::string frame)
void	setExternalGoal (const VectorT &g)
void	setInternalGoal (const VectorT &g)
Private Attributes
float	c_u
float	c_xT
std::vector< std::string >	controlled_joints_
VectorT	external_goal_
ros::ServiceClient	fk_client_
ros::ServiceClient	fk_info_client_
kinematics_msgs::GetPositionFK::Request	fk_request
kinematics_msgs::GetPositionFK::Response	fk_response
float	gain
VectorT	goal_
float	h
ros::ServiceClient	ik_client_
kinematics_msgs::GetPositionIK::Request	ik_request
kinematics_msgs::GetPositionIK::Response	ik_response
std::vector< int >	joint_mapping_
ros::NodeHandle &	n_
int	num_joints
kinematics_msgs::GetKinematicSolverInfo::Request	request
VectorT	res_
kinematics_msgs::GetKinematicSolverInfo::Response	response
std::string	root_frame

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Detailed Description

Definition at line 21 of file pr2_joint_space.h.

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Constructor & Destructor Documentation

pr2_joint_space::RightArmModel::RightArmModel	(	ros::NodeHandle &	n,
		std::string	frame
	)

Definition at line 5 of file pr2_joint_space.cpp.

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Member Function Documentation

float pr2_joint_space::RightArmModel::cost	(	const VectorT &	x,
		const VectorT &	u
	)

Definition at line 169 of file pr2_joint_space.cpp.

void pr2_joint_space::RightArmModel::dynamics	(	const VectorT &	x,
		const VectorT &	u,
		VectorT &	xNext
	)

Definition at line 130 of file pr2_joint_space.cpp.

void pr2_joint_space::RightArmModel::dynamicsD	(	const VectorT &	x,
		const VectorT &	u,
		Deriv &	d
	)

Definition at line 139 of file pr2_joint_space.cpp.

void pr2_joint_space::RightArmModel::fk	(	const VectorT &	x,
		VectorT &	res
	)

Definition at line 67 of file pr2_joint_space.cpp.

void pr2_joint_space::RightArmModel::ik	(	const VectorT &	pos,
		VectorT &	x
	)

Definition at line 97 of file pr2_joint_space.cpp.

void pr2_joint_space::RightArmModel::setExternalGoal

(

const VectorT &

g

)

Definition at line 181 of file pr2_joint_space.cpp.

void pr2_joint_space::RightArmModel::setInternalGoal

(

const VectorT &

g

)

Definition at line 177 of file pr2_joint_space.cpp.

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Member Data Documentation

float pr2_joint_space::RightArmModel::c_u [private]

Definition at line 44 of file pr2_joint_space.h.

float pr2_joint_space::RightArmModel::c_xT [private]

Definition at line 45 of file pr2_joint_space.h.

std::vector<std::string> pr2_joint_space::RightArmModel::controlled_joints_ [private]

Definition at line 31 of file pr2_joint_space.h.

VectorT pr2_joint_space::RightArmModel::external_goal_ [private]

Definition at line 26 of file pr2_joint_space.h.

ros::ServiceClient pr2_joint_space::RightArmModel::fk_client_ [private]

Definition at line 29 of file pr2_joint_space.h.

ros::ServiceClient pr2_joint_space::RightArmModel::fk_info_client_ [private]

Definition at line 28 of file pr2_joint_space.h.

kinematics_msgs::GetPositionFK::Request pr2_joint_space::RightArmModel::fk_request [private]

Definition at line 37 of file pr2_joint_space.h.

kinematics_msgs::GetPositionFK::Response pr2_joint_space::RightArmModel::fk_response [private]

Definition at line 38 of file pr2_joint_space.h.

float pr2_joint_space::RightArmModel::gain [private]

Definition at line 46 of file pr2_joint_space.h.

VectorT pr2_joint_space::RightArmModel::goal_ [private]

Definition at line 24 of file pr2_joint_space.h.

float pr2_joint_space::RightArmModel::h [private]

Definition at line 43 of file pr2_joint_space.h.

ros::ServiceClient pr2_joint_space::RightArmModel::ik_client_ [private]

Definition at line 30 of file pr2_joint_space.h.

kinematics_msgs::GetPositionIK::Request pr2_joint_space::RightArmModel::ik_request [private]

Definition at line 39 of file pr2_joint_space.h.

kinematics_msgs::GetPositionIK::Response pr2_joint_space::RightArmModel::ik_response [private]

Definition at line 40 of file pr2_joint_space.h.

std::vector<int> pr2_joint_space::RightArmModel::joint_mapping_ [private]

Definition at line 32 of file pr2_joint_space.h.

ros::NodeHandle& pr2_joint_space::RightArmModel::n_ [private]

Definition at line 27 of file pr2_joint_space.h.

int pr2_joint_space::RightArmModel::num_joints [private]

Definition at line 47 of file pr2_joint_space.h.

kinematics_msgs::GetKinematicSolverInfo::Request pr2_joint_space::RightArmModel::request [private]

Definition at line 35 of file pr2_joint_space.h.

VectorT pr2_joint_space::RightArmModel::res_ [private]

Definition at line 25 of file pr2_joint_space.h.

kinematics_msgs::GetKinematicSolverInfo::Response pr2_joint_space::RightArmModel::response [private]

Definition at line 36 of file pr2_joint_space.h.

std::string pr2_joint_space::RightArmModel::root_frame [private]

Definition at line 48 of file pr2_joint_space.h.

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

• pr2_joint_space.h
• pr2_joint_space.cpp