#include <pr2_base_trajectory_action.h>

Classes
class	JointState
struct	Segment
struct	Spline
Public Member Functions
	BaseTrajectoryActionController (const ros::NodeHandle &n)
bool	init ()
void	starting ()
void	update ()
	~BaseTrajectoryActionController ()
Private Types
typedef JTAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer < pr2_controllers_msgs::JointTrajectoryAction >	JTAS
typedef std::vector< Segment >	SpecifiedTrajectory
Private Member Functions
void	cancelCB (GoalHandle gh)
void	commandCB (const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void	commandTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr< GoalHandle > gh=boost::shared_ptr< GoalHandle >((GoalHandle *) NULL))
void	goalCB (GoalHandle gh)
void	odomCB (const nav_msgs::Odometry::ConstPtr &msg)
Static Private Member Functions
static void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
Private Attributes
boost::scoped_ptr< JTAS >	action_server_
boost::shared_ptr< GoalHandle >	active_goal_
boost::shared_ptr< const SpecifiedTrajectory >	current_trajectory_
std::vector< double >	e
std::vector< double >	ed
std::vector< double >	edd
std::vector< double >	goal_constraints_
ros::Timer	goal_handle_timer_
double	goal_threshold_
double	goal_time_constraint_
std::vector< JointState * >	joints_
ros::Time	last_time_
ros::NodeHandle	node_
ros::Publisher	pub_command_
std::vector< double >	q
std::vector< double >	qd
std::vector< double >	qdd
ros::Time	robot_time_
double	stopped_velocity_tolerance_
ros::Subscriber	sub_odom_
std::vector< double >	trajectory_constraints_
bool	use_pid
JointState	x_joint_
JointState	y_joint_
JointState	z_joint_

Detailed Description

Definition at line 54 of file pr2_base_trajectory_action.h.

Member Typedef Documentation

typedef JTAS::GoalHandle BaseTrajectoryActionController::GoalHandle [private]

Definition at line 57 of file pr2_base_trajectory_action.h.

typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> BaseTrajectoryActionController::JTAS [private]

Definition at line 56 of file pr2_base_trajectory_action.h.

typedef std::vector<Segment> BaseTrajectoryActionController::SpecifiedTrajectory [private]

Definition at line 123 of file pr2_base_trajectory_action.h.

Constructor & Destructor Documentation

BaseTrajectoryActionController::BaseTrajectoryActionController ( const ros::NodeHandle & n )

Definition at line 154 of file pr2_base_trajectory_action.cpp.

BaseTrajectoryActionController::~BaseTrajectoryActionController ( )

Definition at line 164 of file pr2_base_trajectory_action.cpp.

Member Function Documentation

void BaseTrajectoryActionController::cancelCB ( GoalHandle gh ) [private]

Definition at line 749 of file pr2_base_trajectory_action.cpp.

void BaseTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectory::ConstPtr & msg ) [private]

void BaseTrajectoryActionController::commandTrajectory	(	const trajectory_msgs::JointTrajectory::ConstPtr &	traj,
		boost::shared_ptr< GoalHandle >	gh = `boost::shared_ptr<GoalHandle>((GoalHandle*)NULL)`
	)		`[private]`

Definition at line 392 of file pr2_base_trajectory_action.cpp.

void BaseTrajectoryActionController::goalCB ( GoalHandle gh ) [private]

Definition at line 717 of file pr2_base_trajectory_action.cpp.

bool BaseTrajectoryActionController::init ( )

Definition at line 171 of file pr2_base_trajectory_action.cpp.

void BaseTrajectoryActionController::odomCB ( const nav_msgs::Odometry::ConstPtr & msg ) [private]

Definition at line 652 of file pr2_base_trajectory_action.cpp.

void BaseTrajectoryActionController::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		double	duration,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)		`[static, private]`