pr2_teleop::JinvTeleopController< JOINTS > Class Template Reference

Inheritance diagram for pr2_teleop::JinvTeleopController< JOINTS >:

List of all members.

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *r, ros::NodeHandle &n)
	JinvTeleopController ()
void	starting ()
void	update ()
	~JinvTeleopController ()
Private Types
enum	{ POSE, TWIST }
typedef Eigen::Matrix< double, 6, 1 >	CartVector
typedef Eigen::Matrix< double, JOINTS, 1 >	JointVector
typedef teleop_controllers::JinvTeleopControllerState	StateMsg
Private Member Functions
void	commandPoseCB (const geometry_msgs::PoseStamped::ConstPtr &command)
void	commandPostureCB (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	commandTwistCB (const geometry_msgs::TwistStamped::ConstPtr &command)
Private Attributes
pr2_mechanism_model::Chain	chain_
boost::scoped_ptr < KDL::ChainFkSolverVel >	fk_solver_
boost::scoped_ptr < KDL::ChainJntToJacSolver >	jac_solver_
double	jacobian_inverse_damping_
double	k_posture_
JointVector	Kd_j
CartVector	Kd_x
KDL::Chain	kdl_chain_
JointVector	Kp_j
CartVector	Kp_x
ros::Time	last_command_time_
ros::Time	last_time_
int	loop_count_
enum pr2_teleop::JinvTeleopController:: { ... }	mode_
ros::NodeHandle	node_
JointVector	pclamp_j
double	pose_command_filter_
rosrt::Publisher< StateMsg >	pub_state_
ros::Publisher	pub_transformed_rot_vel_
ros::Publisher	pub_transformed_twist_
realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped >	pub_x_
realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped >	pub_x_desi_
realtime_tools::RealtimePublisher < geometry_msgs::TwistStamped >	pub_x_err_
JointVector	q
JointVector	q_posture_
JointVector	q_proxy_
JointVector	qd
JointVector	qd_pose
pr2_mechanism_model::RobotState *	robot_
std::string	root_name_
ros::Subscriber	sub_command_
ros::Subscriber	sub_command_pose_
ros::Subscriber	sub_posture_
ros::Subscriber	sub_twist_
JointVector	tau
tf::TransformListener	tf_
bool	use_posture_
Eigen::Affine3d	x
Eigen::Affine3d	x_desi_
Eigen::Affine3d	x_desi_filtered_
CartVector	x_err
CartVector	xd
CartVector	xd_desi
CartVector	xd_ref
double	xd_rot_limit_
double	xd_trans_limit_

---

Detailed Description

template<int JOINTS>
class pr2_teleop::JinvTeleopController< JOINTS >

Definition at line 64 of file jinv_teleop_controller.cpp.

---

Member Typedef Documentation

template<int JOINTS>

typedef Eigen::Matrix<double, 6, 1> pr2_teleop::JinvTeleopController< JOINTS >::CartVector [private]

Definition at line 72 of file jinv_teleop_controller.cpp.

template<int JOINTS>

typedef Eigen::Matrix<double, JOINTS, 1> pr2_teleop::JinvTeleopController< JOINTS >::JointVector [private]

Definition at line 71 of file jinv_teleop_controller.cpp.

template<int JOINTS>

typedef teleop_controllers::JinvTeleopControllerState pr2_teleop::JinvTeleopController< JOINTS >::StateMsg [private]

Definition at line 73 of file jinv_teleop_controller.cpp.

---

Member Enumeration Documentation

template<int JOINTS>

anonymous enum [private]

Enumerator:

POSE
TWIST

Definition at line 90 of file jinv_teleop_controller.cpp.

---

Constructor & Destructor Documentation

template<int JOINTS>

pr2_teleop::JinvTeleopController< JOINTS >::JinvTeleopController

(

)

Definition at line 243 of file jinv_teleop_controller.cpp.

template<int JOINTS>

pr2_teleop::JinvTeleopController< JOINTS >::~JinvTeleopController

(

)

Definition at line 249 of file jinv_teleop_controller.cpp.

---

Member Function Documentation

template<int JOINTS>

void pr2_teleop::JinvTeleopController< JOINTS >::commandPoseCB

(

const geometry_msgs::PoseStamped::ConstPtr &

command

)

[inline, private]

Definition at line 153 of file jinv_teleop_controller.cpp.

template<int JOINTS>

void pr2_teleop::JinvTeleopController< JOINTS >::commandPostureCB

(

const std_msgs::Float64MultiArray::ConstPtr &

msg

)

[inline, private]

Definition at line 222 of file jinv_teleop_controller.cpp.

template<int JOINTS>

void pr2_teleop::JinvTeleopController< JOINTS >::commandTwistCB

(

const geometry_msgs::TwistStamped::ConstPtr &

command

)

[inline, private]

Definition at line 170 of file jinv_teleop_controller.cpp.

template<int JOINTS>

bool pr2_teleop::JinvTeleopController< JOINTS >::init	(	pr2_mechanism_model::RobotState *	r,
		ros::NodeHandle &	n
	)		[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 258 of file jinv_teleop_controller.cpp.

template<int JOINTS>

void pr2_teleop::JinvTeleopController< JOINTS >::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 370 of file jinv_teleop_controller.cpp.

template<int JOINTS>

void pr2_teleop::JinvTeleopController< JOINTS >::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 409 of file jinv_teleop_controller.cpp.

---

Member Data Documentation

template<int JOINTS>

pr2_mechanism_model::Chain pr2_teleop::JinvTeleopController< JOINTS >::chain_ [private]

Definition at line 125 of file jinv_teleop_controller.cpp.

template<int JOINTS>

boost::scoped_ptr<KDL::ChainFkSolverVel> pr2_teleop::JinvTeleopController< JOINTS >::fk_solver_ [private]

Definition at line 127 of file jinv_teleop_controller.cpp.

template<int JOINTS>

boost::scoped_ptr<KDL::ChainJntToJacSolver> pr2_teleop::JinvTeleopController< JOINTS >::jac_solver_ [private]

Definition at line 128 of file jinv_teleop_controller.cpp.

template<int JOINTS>

double pr2_teleop::JinvTeleopController< JOINTS >::jacobian_inverse_damping_ [private]

Definition at line 107 of file jinv_teleop_controller.cpp.

template<int JOINTS>

double pr2_teleop::JinvTeleopController< JOINTS >::k_posture_ [private]

Definition at line 117 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::Kd_j [private]

Definition at line 106 of file jinv_teleop_controller.cpp.

template<int JOINTS>

CartVector pr2_teleop::JinvTeleopController< JOINTS >::Kd_x [private]

Definition at line 105 of file jinv_teleop_controller.cpp.

template<int JOINTS>

KDL::Chain pr2_teleop::JinvTeleopController< JOINTS >::kdl_chain_ [private]

Definition at line 126 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::Kp_j [private]

Definition at line 106 of file jinv_teleop_controller.cpp.

template<int JOINTS>

CartVector pr2_teleop::JinvTeleopController< JOINTS >::Kp_x [private]

Definition at line 105 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Time pr2_teleop::JinvTeleopController< JOINTS >::last_command_time_ [private]

Definition at line 110 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Time pr2_teleop::JinvTeleopController< JOINTS >::last_time_ [private]

Definition at line 121 of file jinv_teleop_controller.cpp.

template<int JOINTS>

int pr2_teleop::JinvTeleopController< JOINTS >::loop_count_ [private]

Definition at line 122 of file jinv_teleop_controller.cpp.

enum { ... } pr2_teleop::JinvTeleopController< JOINTS >::mode_ [private]

template<int JOINTS>

ros::NodeHandle pr2_teleop::JinvTeleopController< JOINTS >::node_ [private]

Definition at line 92 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::pclamp_j [private]

Definition at line 106 of file jinv_teleop_controller.cpp.

template<int JOINTS>

double pr2_teleop::JinvTeleopController< JOINTS >::pose_command_filter_ [private]

Definition at line 108 of file jinv_teleop_controller.cpp.

template<int JOINTS>

rosrt::Publisher<StateMsg> pr2_teleop::JinvTeleopController< JOINTS >::pub_state_ [private]

Definition at line 100 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Publisher pr2_teleop::JinvTeleopController< JOINTS >::pub_transformed_rot_vel_ [private]

Definition at line 102 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Publisher pr2_teleop::JinvTeleopController< JOINTS >::pub_transformed_twist_ [private]

Definition at line 101 of file jinv_teleop_controller.cpp.

template<int JOINTS>

realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> pr2_teleop::JinvTeleopController< JOINTS >::pub_x_ [private]

Definition at line 97 of file jinv_teleop_controller.cpp.

template<int JOINTS>

realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> pr2_teleop::JinvTeleopController< JOINTS >::pub_x_desi_ [private]

Definition at line 98 of file jinv_teleop_controller.cpp.

template<int JOINTS>

realtime_tools::RealtimePublisher<geometry_msgs::TwistStamped> pr2_teleop::JinvTeleopController< JOINTS >::pub_x_err_ [private]

Definition at line 99 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::q [private]

Definition at line 131 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::q_posture_ [private]

Definition at line 119 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::q_proxy_ [private]

Definition at line 115 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::qd [private]

Definition at line 131 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::qd_pose [private]

Definition at line 136 of file jinv_teleop_controller.cpp.

template<int JOINTS>

pr2_mechanism_model::RobotState* pr2_teleop::JinvTeleopController< JOINTS >::robot_ [private]

Definition at line 88 of file jinv_teleop_controller.cpp.

template<int JOINTS>

std::string pr2_teleop::JinvTeleopController< JOINTS >::root_name_ [private]

Definition at line 124 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_command_ [private]

Definition at line 93 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_command_pose_ [private]

Definition at line 94 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_posture_ [private]

Definition at line 96 of file jinv_teleop_controller.cpp.

template<int JOINTS>

ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_twist_ [private]

Definition at line 95 of file jinv_teleop_controller.cpp.

template<int JOINTS>

JointVector pr2_teleop::JinvTeleopController< JOINTS >::tau [private]

Definition at line 137 of file jinv_teleop_controller.cpp.

template<int JOINTS>

tf::TransformListener pr2_teleop::JinvTeleopController< JOINTS >::tf_ [private]

Definition at line 103 of file jinv_teleop_controller.cpp.

template<int JOINTS>

bool pr2_teleop::JinvTeleopController< JOINTS >::use_posture_ [private]

Definition at line 118 of file jinv_teleop_controller.cpp.

template<int JOINTS>

Eigen::Affine3d pr2_teleop::JinvTeleopController< JOINTS >::x [private]

Definition at line 132 of file jinv_teleop_controller.cpp.

template<int JOINTS>

Eigen::Affine3d pr2_teleop::JinvTeleopController< JOINTS >::x_desi_ [private]

Definition at line 111 of file jinv_teleop_controller.cpp.

template<int JOINTS>

Eigen::Affine3d pr2_teleop::JinvTeleopController< JOINTS >::x_desi_filtered_ [private]

Definition at line 111 of file jinv_teleop_controller.cpp.

template<int JOINTS>

CartVector pr2_teleop::JinvTeleopController< JOINTS >::x_err [private]

Definition at line 134 of file jinv_teleop_controller.cpp.

template<int JOINTS>

CartVector pr2_teleop::JinvTeleopController< JOINTS >::xd [private]

Definition at line 133 of file jinv_teleop_controller.cpp.

template<int JOINTS>

CartVector pr2_teleop::JinvTeleopController< JOINTS >::xd_desi [private]

Definition at line 112 of file jinv_teleop_controller.cpp.

template<int JOINTS>

CartVector pr2_teleop::JinvTeleopController< JOINTS >::xd_ref [private]

Definition at line 135 of file jinv_teleop_controller.cpp.

template<int JOINTS>

double pr2_teleop::JinvTeleopController< JOINTS >::xd_rot_limit_ [private]

Definition at line 114 of file jinv_teleop_controller.cpp.

template<int JOINTS>

double pr2_teleop::JinvTeleopController< JOINTS >::xd_trans_limit_ [private]

Definition at line 113 of file jinv_teleop_controller.cpp.

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

• jinv_teleop_controller.cpp