#include <R2RosTrajectoryManager.hpp>

Public Member Functions
void	basesCallback (const nasa_r2_common_msgs::StringArray &msg)
nasa_r2_common_msgs::JointControlDataArray	fromJointCommandToJointControl (const nasa_r2_common_msgs::JointCommand &jointCommandMsg)
sensor_msgs::JointState	fromJointCommandToJointState (const nasa_r2_common_msgs::JointCommand &jointCommandMsg)
void	inertiaCallback (const sensor_msgs::JointState &msg)
void	jointCapabilitiesCallback (const nasa_r2_common_msgs::JointCapability &msg)
void	jointCommandCallback (const nasa_r2_common_msgs::JointCommand &msg)
void	jointRefsCallback (const nasa_r2_common_msgs::JointTrajectoryReplan &msg)
void	jointSettingsCallback (const nasa_r2_common_msgs::ControllerJointSettings &msg)
void	jointStatesCallback (const sensor_msgs::JointState &msg)
void	jointTrajCallback (const trajectory_msgs::JointTrajectory &msg)
void	poseCommandCallback (const nasa_r2_common_msgs::PoseState &msg)
void	poseRefsCallback (const nasa_r2_common_msgs::PoseTrajectoryReplan &msg)
void	poseSettingsCallback (const nasa_r2_common_msgs::ControllerPoseSettings &msg)
void	poseStatesCallback (const nasa_r2_common_msgs::PoseState &msg)
	R2RosTrajectoryManager (const std::string name, const std::string &urdf, const double &timestep, ros::NodeHandle &nh)
void	setCartesianParameters (std::vector< double > priorityNum, std::vector< double > linearTol, std::vector< double > angularTol, double momLimit, double taskGain, int ikMaxItr, double ikMaxTwist)
void	update ()
virtual	~R2RosTrajectoryManager ()
Protected Member Functions
virtual void	writeJointControl (const nasa_r2_common_msgs::JointControlDataArray &jointControl_out)
virtual void	writeJointState (const sensor_msgs::JointState &jointState_out)
virtual void	writeStatus (const actionlib_msgs::GoalStatusArray &goalStatusMsg_out)
Private Attributes
ros::Subscriber	basesIn
ros::Publisher	goalStatusOut
ros::Subscriber	inertiaIn
ros::Subscriber	jointCapabilitiesIn
ros::Publisher	jointCommandOut
	publishers and subscribers
sensor_msgs::JointState	jointCommandOutMsg
ros::Subscriber	jointCommandRefsIn
nasa_r2_common_msgs::JointCommand	jointCommandsMsg
ros::Subscriber	jointRefsIn
nasa_r2_common_msgs::JointTrajectoryReplan	jointRefsMsg
ros::Subscriber	jointSettingsIn
nasa_r2_common_msgs::ControllerJointSettings	jointSettingsMsg
	messages
ros::Subscriber	jointStatesIn
sensor_msgs::JointState	jointStatesMsg
nasa_r2_common_msgs::JointControlDataArray	jointStatusMsg
ros::Subscriber	jointTrajIn
bool	newJointCommands
bool	newPoseCommands
ros::Publisher	poseCommandOut
nasa_r2_common_msgs::PoseState	poseCommandOutMsg
ros::Subscriber	poseCommandRefIn
nasa_r2_common_msgs::PoseState	poseCommandsMsg
ros::Subscriber	poseRefsIn
nasa_r2_common_msgs::PoseTrajectoryReplan	poseRefsMsg
std::queue < nasa_r2_common_msgs::PoseTrajectoryReplan >	poseRefsQueue
ros::Subscriber	poseSettingsIn
ros::Subscriber	poseStatesIn
ros::Publisher	poseStatesOut
nasa_r2_common_msgs::PoseState	poseStatesOutMsg
nasa_r2_common_msgs::JointCommand	prevJointCommandsMsg
sensor_msgs::JointState	prevJointStatesMsg
double	replanHoldAccelerationLimit
double	replanHoldVelocityLimit
nasa_r2_common_msgs::ControllerJointSettings	replanJointSettings
double	replanSettingsVelocityCutoff
double	replanStopAccelerationLimit
double	replanStopVelocityLimit
double	timeStepProp
trajectory_msgs::JointTrajectory	trajInMsg
RosMsgTreeFk	treeFk
std::string	urdfFile
double	waitForKasquish

Detailed Description

Definition at line 16 of file R2RosTrajectoryManager.hpp.

Constructor & Destructor Documentation

R2RosTrajectoryManager::R2RosTrajectoryManager	(	const std::string	name,
		const std::string &	urdf,
		const double &	timestep,
		ros::NodeHandle &	nh
	)

publishers and subscribers

Definition at line 3 of file R2RosTrajectoryManager.cpp.

virtual R2RosTrajectoryManager::~R2RosTrajectoryManager ( ) [inline, virtual]

Definition at line 20 of file R2RosTrajectoryManager.hpp.

Member Function Documentation

void R2RosTrajectoryManager::basesCallback ( const nasa_r2_common_msgs::StringArray & msg )

Definition at line 113 of file R2RosTrajectoryManager.cpp.

nasa_r2_common_msgs::JointControlDataArray R2RosTrajectoryManager::fromJointCommandToJointControl ( const nasa_r2_common_msgs::JointCommand & jointCommandMsg )

Definition at line 207 of file R2RosTrajectoryManager.cpp.

sensor_msgs::JointState R2RosTrajectoryManager::fromJointCommandToJointState ( const nasa_r2_common_msgs::JointCommand & jointCommandMsg )

Definition at line 194 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::inertiaCallback ( const sensor_msgs::JointState & msg )

Definition at line 119 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointCapabilitiesCallback ( const nasa_r2_common_msgs::JointCapability & msg )

Definition at line 65 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointCommandCallback ( const nasa_r2_common_msgs::JointCommand & msg )

Definition at line 46 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointRefsCallback ( const nasa_r2_common_msgs::JointTrajectoryReplan & msg )

Definition at line 71 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointSettingsCallback ( const nasa_r2_common_msgs::ControllerJointSettings & msg )

Definition at line 40 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointStatesCallback ( const sensor_msgs::JointState & msg )

Definition at line 56 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointTrajCallback ( const trajectory_msgs::JointTrajectory & msg )

Definition at line 93 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseCommandCallback ( const nasa_r2_common_msgs::PoseState & msg )

Definition at line 137 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseRefsCallback ( const nasa_r2_common_msgs::PoseTrajectoryReplan & msg )

Definition at line 144 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseSettingsCallback ( const nasa_r2_common_msgs::ControllerPoseSettings & msg )

Definition at line 125 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseStatesCallback ( const nasa_r2_common_msgs::PoseState & msg )

Definition at line 131 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::setCartesianParameters	(	std::vector< double >	priorityNum,
		std::vector< double >	linearTol,
		std::vector< double >	angularTol,
		double	momLimit,
		double	taskGain,
		int	ikMaxItr,
		double	ikMaxTwist
	)