#include <joint_trajectory_action_controller.h>
Classes | |
struct | Segment |
struct | Spline |
Public Member Functions | |
bool | init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n) |
JointTrajectoryActionController () | |
void | starting () |
void | update () |
~JointTrajectoryActionController () | |
Private Types | |
typedef actionlib::ActionServer < control_msgs::FollowJointTrajectoryAction > | FJTAS |
typedef JTAS::GoalHandle | GoalHandle |
typedef FJTAS::GoalHandle | GoalHandleFollow |
typedef actionlib::ActionServer < pr2_controllers_msgs::JointTrajectoryAction > | JTAS |
typedef RTServerGoalHandle < pr2_controllers_msgs::JointTrajectoryAction > | RTGoalHandle |
typedef RTServerGoalHandle < control_msgs::FollowJointTrajectoryAction > | RTGoalHandleFollow |
typedef std::vector< Segment > | SpecifiedTrajectory |
Private Member Functions | |
void | cancelCB (GoalHandle gh) |
void | cancelCBFollow (GoalHandleFollow gh) |
void | commandCB (const trajectory_msgs::JointTrajectory::ConstPtr &msg) |
void | commandTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr< RTGoalHandle > gh=boost::shared_ptr< RTGoalHandle >((RTGoalHandle *) NULL), boost::shared_ptr< RTGoalHandleFollow > gh_follow=boost::shared_ptr< RTGoalHandleFollow >((RTGoalHandleFollow *) NULL)) |
void | goalCB (GoalHandle gh) |
void | goalCBFollow (GoalHandleFollow gh) |
void | preemptActiveGoal () |
bool | queryStateService (pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp) |
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::scoped_ptr< FJTAS > | action_server_follow_ |
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointTrajectoryControllerState > > | controller_state_publisher_ |
realtime_tools::RealtimeBox < boost::shared_ptr< const SpecifiedTrajectory > > | current_trajectory_box_ |
double | default_goal_time_constraint_ |
std::vector< JointTolerance > | default_goal_tolerance_ |
std::vector< JointTolerance > | default_trajectory_tolerance_ |
ros::Timer | goal_handle_timer_ |
std::vector < pr2_mechanism_model::JointState * > | joints_ |
ros::Time | last_time_ |
int | loop_count_ |
std::vector< double > | masses_ |
ros::NodeHandle | node_ |
std::vector< boost::shared_ptr < filters::FilterChain< double > > > | output_filters_ |
std::vector< control_toolbox::Pid > | pids_ |
std::vector < control_toolbox::LimitedProxy > | proxies_ |
std::vector< bool > | proxies_enabled_ |
std::vector< double > | q |
std::vector< double > | qd |
std::vector< double > | qdd |
pr2_mechanism_model::RobotState * | robot_ |
boost::shared_ptr< RTGoalHandle > | rt_active_goal_ |
boost::shared_ptr < RTGoalHandleFollow > | rt_active_goal_follow_ |
ros::ServiceServer | serve_query_state_ |
ros::Subscriber | sub_command_ |
Definition at line 165 of file joint_trajectory_action_controller.h.
typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::FJTAS [private] |
Definition at line 173 of file joint_trajectory_action_controller.h.
typedef JTAS::GoalHandle controller::JointTrajectoryActionController::GoalHandle [private] |
Definition at line 169 of file joint_trajectory_action_controller.h.
Definition at line 174 of file joint_trajectory_action_controller.h.
typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::JTAS [private] |
Definition at line 168 of file joint_trajectory_action_controller.h.
typedef RTServerGoalHandle<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandle [private] |
Definition at line 170 of file joint_trajectory_action_controller.h.
typedef RTServerGoalHandle<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandleFollow [private] |
Definition at line 175 of file joint_trajectory_action_controller.h.
typedef std::vector<Segment> controller::JointTrajectoryActionController::SpecifiedTrajectory [private] |
Definition at line 262 of file joint_trajectory_action_controller.h.
Definition at line 142 of file joint_trajectory_action_controller.cpp.
Definition at line 147 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::cancelCB | ( | GoalHandle | gh | ) | [private] |
Definition at line 1054 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::cancelCBFollow | ( | GoalHandleFollow | gh | ) | [private] |
Definition at line 1072 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::commandCB | ( | const trajectory_msgs::JointTrajectory::ConstPtr & | msg | ) | [private] |
Definition at line 530 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::commandTrajectory | ( | const trajectory_msgs::JointTrajectory::ConstPtr & | traj, |
boost::shared_ptr< RTGoalHandle > | gh = boost::shared_ptr<RTGoalHandle>((RTGoalHandle*)NULL) , |
||
boost::shared_ptr< RTGoalHandleFollow > | gh_follow = boost::shared_ptr<RTGoalHandleFollow>((RTGoalHandleFollow*)NULL) |
||
) | [private] |
Definition at line 536 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::goalCB | ( | GoalHandle | gh | ) | [private] |
Definition at line 998 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::goalCBFollow | ( | GoalHandleFollow | gh | ) | [private] |
Definition at line 1024 of file joint_trajectory_action_controller.cpp.
bool controller::JointTrajectoryActionController::init | ( | pr2_mechanism_model::RobotState * | robot, |
ros::NodeHandle & | n | ||
) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 155 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::preemptActiveGoal | ( | ) | [private] |
Definition at line 970 of file joint_trajectory_action_controller.cpp.
bool controller::JointTrajectoryActionController::queryStateService | ( | pr2_controllers_msgs::QueryTrajectoryState::Request & | req, |
pr2_controllers_msgs::QueryTrajectoryState::Response & | resp | ||
) | [private] |
Definition at line 883 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::sampleSplineWithTimeBounds | ( | const std::vector< double > & | coefficients, |
double | duration, | ||
double | time, | ||
double & | position, | ||
double & | velocity, | ||
double & | acceleration | ||
) | [static, private] |
Definition at line 926 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::starting | ( | ) | [virtual] |
Reimplemented from pr2_controller_interface::Controller.
Definition at line 313 of file joint_trajectory_action_controller.cpp.
void controller::JointTrajectoryActionController::update | ( | void | ) | [virtual] |
Implements pr2_controller_interface::Controller.
Definition at line 334 of file joint_trajectory_action_controller.cpp.
boost::scoped_ptr<JTAS> controller::JointTrajectoryActionController::action_server_ [private] |
Definition at line 222 of file joint_trajectory_action_controller.h.
boost::scoped_ptr<FJTAS> controller::JointTrajectoryActionController::action_server_follow_ [private] |
Definition at line 223 of file joint_trajectory_action_controller.h.
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointTrajectoryActionController::controller_state_publisher_ [private] |
Definition at line 220 of file joint_trajectory_action_controller.h.
realtime_tools::RealtimeBox< boost::shared_ptr<const SpecifiedTrajectory> > controller::JointTrajectoryActionController::current_trajectory_box_ [private] |
Definition at line 265 of file joint_trajectory_action_controller.h.
Definition at line 199 of file joint_trajectory_action_controller.h.
std::vector<JointTolerance> controller::JointTrajectoryActionController::default_goal_tolerance_ [private] |
Definition at line 198 of file joint_trajectory_action_controller.h.
std::vector<JointTolerance> controller::JointTrajectoryActionController::default_trajectory_tolerance_ [private] |
Definition at line 197 of file joint_trajectory_action_controller.h.
Definition at line 228 of file joint_trajectory_action_controller.h.
std::vector<pr2_mechanism_model::JointState*> controller::JointTrajectoryActionController::joints_ [private] |
Definition at line 191 of file joint_trajectory_action_controller.h.
Definition at line 190 of file joint_trajectory_action_controller.h.
int controller::JointTrajectoryActionController::loop_count_ [private] |
Definition at line 188 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::masses_ [private] |
Definition at line 192 of file joint_trajectory_action_controller.h.
Definition at line 209 of file joint_trajectory_action_controller.h.
std::vector<boost::shared_ptr<filters::FilterChain<double> > > controller::JointTrajectoryActionController::output_filters_ [private] |
Definition at line 207 of file joint_trajectory_action_controller.h.
std::vector<control_toolbox::Pid> controller::JointTrajectoryActionController::pids_ [private] |
Definition at line 193 of file joint_trajectory_action_controller.h.
std::vector<control_toolbox::LimitedProxy> controller::JointTrajectoryActionController::proxies_ [private] |
Definition at line 195 of file joint_trajectory_action_controller.h.
std::vector<bool> controller::JointTrajectoryActionController::proxies_enabled_ [private] |
Definition at line 194 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::q [private] |
Definition at line 273 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::qd [private] |
Definition at line 273 of file joint_trajectory_action_controller.h.
std::vector<double> controller::JointTrajectoryActionController::qdd [private] |
Definition at line 273 of file joint_trajectory_action_controller.h.
Definition at line 189 of file joint_trajectory_action_controller.h.
boost::shared_ptr<RTGoalHandle> controller::JointTrajectoryActionController::rt_active_goal_ [private] |
Definition at line 230 of file joint_trajectory_action_controller.h.
boost::shared_ptr<RTGoalHandleFollow> controller::JointTrajectoryActionController::rt_active_goal_follow_ [private] |
Definition at line 231 of file joint_trajectory_action_controller.h.
Definition at line 216 of file joint_trajectory_action_controller.h.
Definition at line 212 of file joint_trajectory_action_controller.h.