hekateros_control::ASFollowTrajectory Class Reference

Hekateros follow joint trajectory action server class. More...

#include <hekateros_as_follow_traj.h>

List of all members.

Public Member Functions
	ASFollowTrajectory (std::string name, HekaterosControl &node)
	Initialization constructor.
void	execute_cb (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	ROS callback to execute action.
void	preempt_cb ()
	ROS callback to preempt action.
void	start ()
	Start the action server.
virtual	~ASFollowTrajectory ()
	Destructor.
Static Public Attributes
static const int	MaxIters = 10
	maximum iterations w/o motion
static const double	TolGoal = 0.00087
	final goal position
static const double	TolWaypoint = 0.01745
	intermediate waypoint position
Protected Member Functions
bool	atWaypoint (trajectory_msgs::JointTrajectory &jt, ssize_t iWaypoint)
	Test if current move is at the target waypoint.
bool	failedWaypoint (trajectory_msgs::JointTrajectory &jt, ssize_t iWaypoint)
	Test if current move to the the target waypoint failed.
void	monitorMove (trajectory_msgs::JointTrajectory &jt, ssize_t iWaypoint)
	Monitor and provide feedback of current waypoint move.
int	moveToWaypoint (trajectory_msgs::JointTrajectory &jt, ssize_t iWaypoint)
	Move to next waypoint.
void	publishFeedback (ssize_t iWaypoint)
	Publish feedback.
Protected Attributes
std::string	action_name_
	action name
actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	as_
	action simple server
control_msgs::FollowJointTrajectoryFeedback	feedback_
	progress feedback
double	m_fTolerance
	waypoint tolerance
double	m_fWaypointDist
	current waypoint distance
int	m_iterMonitor
	monitoring iteration count
HekaterosControl &	node_
	hekateros control node instance
control_msgs::FollowJointTrajectoryResult	result_
	action results

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Detailed Description

Hekateros follow joint trajectory action server class.

Definition at line 103 of file hekateros_as_follow_traj.h.

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Constructor & Destructor Documentation

hekateros_control::ASFollowTrajectory::ASFollowTrajectory	(	std::string	name,
		HekaterosControl &	node
	)		[inline]

Initialization constructor.

Parameters:

name	Action server name.
node	Node-specific class instance.

Definition at line 117 of file hekateros_as_follow_traj.h.

virtual hekateros_control::ASFollowTrajectory::~ASFollowTrajectory

(

)

[inline, virtual]

Destructor.

Definition at line 139 of file hekateros_as_follow_traj.h.

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Member Function Documentation

bool hekateros_control::ASFollowTrajectory::atWaypoint	(	trajectory_msgs::JointTrajectory &	jt,
		ssize_t	iWaypoint
	)		[inline, protected]

Test if current move is at the target waypoint.

Parameters:

jt	Joint trajectory path.
iWaypoint	Current waypoint along the trajectoy path.

Returns:

Returns true or false.

Definition at line 210 of file hekateros_as_follow_traj.h.

void ASFollowTrajectory::execute_cb

(

const control_msgs::FollowJointTrajectoryGoalConstPtr &

goal

)

ROS callback to execute action.

The callback is executed in a separate ROS-created thread so that it can block.Typically, the callback is invoked within a ROS spin.

Parameters:

goal	Goal joint trajectory path.

Definition at line 139 of file hekateros_as_follow_traj.cpp.

bool ASFollowTrajectory::failedWaypoint	(	trajectory_msgs::JointTrajectory &	jt,
		ssize_t	iWaypoint
	)		[protected]

Test if current move to the the target waypoint failed.

Parameters:

jt	Joint trajectory path.
iWaypoint	Current waypoint along the trajectoy path.

Returns:

Returns true or false.

Definition at line 379 of file hekateros_as_follow_traj.cpp.

void ASFollowTrajectory::monitorMove	(	trajectory_msgs::JointTrajectory &	jt,
		ssize_t	iWaypoint
	)		[protected]

Monitor and provide feedback of current waypoint move.

Parameters:

jt	Joint trajectory path.
iWaypoint	Current waypoint along the trajectoy path.

Definition at line 292 of file hekateros_as_follow_traj.cpp.

int ASFollowTrajectory::moveToWaypoint	(	trajectory_msgs::JointTrajectory &	jt,
		ssize_t	iWaypoint
	)		[protected]

Move to next waypoint.

Parameters:

jt	Joint trajectory path.
iWaypoint	Current waypoint along the trajectoy path.

Returns:

Returns HEK_OK on success, 0 on failure.

Definition at line 265 of file hekateros_as_follow_traj.cpp.

void ASFollowTrajectory::preempt_cb

(

)

ROS callback to preempt action.

This is only needed if actions are required outside of the blocking execution callback thread.

Definition at line 420 of file hekateros_as_follow_traj.cpp.

void ASFollowTrajectory::publishFeedback

(

ssize_t

iWaypoint

)

[protected]

Publish feedback.

Parameters:

iWaypoint

Current waypoint along the trajectoy path.

Definition at line 404 of file hekateros_as_follow_traj.cpp.

void hekateros_control::ASFollowTrajectory::start

(

void

)

[inline]

Start the action server.

Definition at line 146 of file hekateros_as_follow_traj.h.

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Member Data Documentation

std::string hekateros_control::ASFollowTrajectory::action_name_ [protected]

action name

Definition at line 171 of file hekateros_as_follow_traj.h.

actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> hekateros_control::ASFollowTrajectory::as_ [protected]

action simple server

Definition at line 174 of file hekateros_as_follow_traj.h.

control_msgs::FollowJointTrajectoryFeedback hekateros_control::ASFollowTrajectory::feedback_ [protected]

progress feedback

Definition at line 176 of file hekateros_as_follow_traj.h.

double hekateros_control::ASFollowTrajectory::m_fTolerance [protected]

waypoint tolerance

Definition at line 180 of file hekateros_as_follow_traj.h.

double hekateros_control::ASFollowTrajectory::m_fWaypointDist [protected]

current waypoint distance

Definition at line 181 of file hekateros_as_follow_traj.h.

int hekateros_control::ASFollowTrajectory::m_iterMonitor [protected]

monitoring iteration count

Definition at line 182 of file hekateros_as_follow_traj.h.

const int ASFollowTrajectory::MaxIters = 10 [static]

maximum iterations w/o motion

Definition at line 109 of file hekateros_as_follow_traj.h.

HekaterosControl& hekateros_control::ASFollowTrajectory::node_ [protected]

hekateros control node instance

Definition at line 172 of file hekateros_as_follow_traj.h.

control_msgs::FollowJointTrajectoryResult hekateros_control::ASFollowTrajectory::result_ [protected]

action results

Definition at line 178 of file hekateros_as_follow_traj.h.

const double ASFollowTrajectory::TolGoal = 0.00087 [static]

final goal position

Definition at line 108 of file hekateros_as_follow_traj.h.

const double ASFollowTrajectory::TolWaypoint = 0.01745 [static]

intermediate waypoint position

Definition at line 107 of file hekateros_as_follow_traj.h.

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

• hekateros_as_follow_traj.h
• hekateros_as_follow_traj.cpp