Hekateros follow joint trajectory action server class implementation. More...
#include <sys/types.h>#include <unistd.h>#include <math.h>#include <boost/bind.hpp>#include <sstream>#include <string>#include "ros/ros.h"#include "std_msgs/String.h"#include "control_msgs/FollowJointTrajectoryAction.h"#include "actionlib/server/simple_action_server.h"#include "Hekateros/hekateros.h"#include "Hekateros/hekJoint.h"#include "Hekateros/hekTraj.h"#include "Hekateros/hekUtils.h"#include "Hekateros/hekRobot.h"#include "hekateros_control.h"#include "hekateros_as_follow_traj.h"
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Defines | |
| #define | HACK_MAX_GEAR_RATIO 4.0 |
| #define | HACK_MAX_RADS_PER_SEC ( (HACK_MIN_SERVO_RPM / HACK_MAX_GEAR_RATIO / 60.0) * M_TAU ) |
| #define | HACK_MIN_SERVO_RPM 45.0 |
Functions | |
| double | velPerCent (double velRadsPerSec) |
Detailed Description
Hekateros follow joint trajectory action server class implementation.
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- (C) 2013-2014 RoadNarrows (http://www.roadnarrows.com)
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Definition in file hekateros_as_follow_traj.cpp.
Define Documentation
| #define HACK_MAX_GEAR_RATIO 4.0 |
Definition at line 114 of file hekateros_as_follow_traj.cpp.
| #define HACK_MAX_RADS_PER_SEC ( (HACK_MIN_SERVO_RPM / HACK_MAX_GEAR_RATIO / 60.0) * M_TAU ) |
Definition at line 116 of file hekateros_as_follow_traj.cpp.
| #define HACK_MIN_SERVO_RPM 45.0 |
Definition at line 115 of file hekateros_as_follow_traj.cpp.
Function Documentation
| double velPerCent | ( | double | velRadsPerSec | ) | [inline] |
Definition at line 120 of file hekateros_as_follow_traj.cpp.