Public Member Functions | Public Attributes | Private Types
controller::JTCartesianController Class Reference

#include <jt_cartesian_controller.h>

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List of all members.

Public Member Functions

void commandPose (const geometry_msgs::PoseStamped::ConstPtr &command)
void commandPosture (const std_msgs::Float64MultiArray::ConstPtr &msg)
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 JTCartesianController ()
void setGains (const std_msgs::Float64MultiArray::ConstPtr &msg)
void starting ()
void update ()
 ~JTCartesianController ()

Public Attributes

pr2_mechanism_model::Chain chain_
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
double jacobian_inverse_damping_
JointVec joint_dd_ff_
double joint_vel_filter_
double k_posture_
Eigen::Matrix< double, 6, 1 > Kd
boost::scoped_ptr< Kin< Joints > > kin_
Eigen::Matrix< double, 6, 1 > Kp
Eigen::Affine3d last_pose_
ros::Time last_time_
CartVec last_wrench_
int loop_count_
ros::NodeHandle node_
double pose_command_filter_
realtime_tools::RealtimePublisher
< StateMsg
pub_state_
realtime_tools::RealtimePublisher
< geometry_msgs::PoseStamped > 
pub_x_desi_
JointVec q_posture_
JointVec qdot_filtered_
double res_force_
double res_orientation_
double res_position_
double res_torque_
pr2_mechanism_model::RobotStaterobot_state_
std::string root_name_
JointVec saturation_
ros::Subscriber sub_gains_
ros::Subscriber sub_pose_
ros::Subscriber sub_posture_
tf::TransformListener tf_
std::string tip_name_
bool use_posture_
double vel_saturation_rot_
double vel_saturation_trans_
CartVec wrench_desi_
Eigen::Affine3d x_desi_
Eigen::Affine3d x_desi_filtered_

Private Types

enum  { Joints = 7 }
typedef Eigen::Matrix< double, 6, 1 > CartVec
typedef Eigen::Matrix< double,
6, Joints
Jacobian
typedef Eigen::Matrix< double,
Joints, 1 > 
JointVec
typedef
robot_mechanism_controllers::JTCartesianControllerState 
StateMsg

Detailed Description

Definition at line 100 of file jt_cartesian_controller.h.


Member Typedef Documentation

typedef Eigen::Matrix<double, 6, 1> controller::JTCartesianController::CartVec [private]

Definition at line 109 of file jt_cartesian_controller.h.

typedef Eigen::Matrix<double, 6, Joints> controller::JTCartesianController::Jacobian [private]

Definition at line 110 of file jt_cartesian_controller.h.

typedef Eigen::Matrix<double, Joints, 1> controller::JTCartesianController::JointVec [private]

Definition at line 108 of file jt_cartesian_controller.h.

Definition at line 111 of file jt_cartesian_controller.h.


Member Enumeration Documentation

anonymous enum [private]
Enumerator:
Joints 

Definition at line 107 of file jt_cartesian_controller.h.


Constructor & Destructor Documentation

Definition at line 51 of file jt_cartesian_controller.cpp.

Definition at line 55 of file jt_cartesian_controller.cpp.


Member Function Documentation

void controller::JTCartesianController::commandPose ( const geometry_msgs::PoseStamped::ConstPtr &  command) [inline]

Definition at line 190 of file jt_cartesian_controller.h.

void controller::JTCartesianController::commandPosture ( const std_msgs::Float64MultiArray::ConstPtr &  msg) [inline]

Definition at line 172 of file jt_cartesian_controller.h.

Implements pr2_controller_interface::Controller.

Definition at line 63 of file jt_cartesian_controller.cpp.

void controller::JTCartesianController::setGains ( const std_msgs::Float64MultiArray::ConstPtr &  msg) [inline]

Definition at line 159 of file jt_cartesian_controller.h.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 174 of file jt_cartesian_controller.cpp.

void controller::JTCartesianController::update ( void  ) [virtual]

Implements pr2_controller_interface::Controller.

Definition at line 200 of file jt_cartesian_controller.cpp.


Member Data Documentation

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Eigen::Matrix<double,6,1> controller::JTCartesianController::Kd

Definition at line 139 of file jt_cartesian_controller.h.

Definition at line 138 of file jt_cartesian_controller.h.

Eigen::Matrix<double,6,1> controller::JTCartesianController::Kp

Definition at line 139 of file jt_cartesian_controller.h.

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realtime_tools::RealtimePublisher<StateMsg> controller::JTCartesianController::pub_state_

Definition at line 129 of file jt_cartesian_controller.h.

realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> controller::JTCartesianController::pub_x_desi_

Definition at line 130 of file jt_cartesian_controller.h.

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


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Thu Apr 24 2014 15:44:44