velocity_controllers::CartesianController Class Reference

#include <cartesian_controller.hpp>

Inheritance diagram for velocity_controllers::CartesianController:

List of all members.

Public Member Functions
bool	init (hardware_interface::VelocityJointInterface *hw, ros::NodeHandle &nh)
void	starting (const ros::Time &time)
void	stopping (const ros::Time &time)
void	update (const ros::Time &time, const ros::Duration &period)
Private Member Functions
void	velCmdCB (const geometry_msgs::TwistStampedConstPtr &msg)
Private Attributes
boost::scoped_ptr < KDL::ChainFkSolverPos >	chain_fk_solver_
boost::scoped_ptr < KDL::ChainIkSolverVel >	chain_ik_solver_vel_
KDL::Twist	cmd_angular_twist_
KDL::Twist	cmd_linear_twist_
ros::Duration	dead_man_timeout_
bool	got_msg_
hardware_interface::JointHandle	joint_
std::vector < hardware_interface::JointHandle >	joint_handles_
double	joint_vel_limit_
KDL::Chain	kdl_chain_
KDL::Tree	kdl_tree_
ros::Time	last_msg_
std::string	root_name_
std::string	tip_name_
ros::Subscriber	vel_cmd_sub_

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Detailed Description

Definition at line 63 of file cartesian_controller.hpp.

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Member Function Documentation

bool velocity_controllers::CartesianController::init	(	hardware_interface::VelocityJointInterface *	hw,
		ros::NodeHandle &	nh
	)		[virtual]

Reimplemented from controller_interface::Controller< hardware_interface::VelocityJointInterface >.

Definition at line 48 of file cartesian_controller.cpp.

void velocity_controllers::CartesianController::starting

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 210 of file cartesian_controller.cpp.

void velocity_controllers::CartesianController::stopping

(

const ros::Time &

time

)

[virtual]

Reimplemented from controller_interface::ControllerBase.

Definition at line 230 of file cartesian_controller.cpp.

void velocity_controllers::CartesianController::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)		[virtual]

Implements controller_interface::ControllerBase.

Definition at line 103 of file cartesian_controller.cpp.

void velocity_controllers::CartesianController::velCmdCB

(

const geometry_msgs::TwistStampedConstPtr &

msg

)

[private]

Definition at line 235 of file cartesian_controller.cpp.

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Member Data Documentation

boost::scoped_ptr<KDL::ChainFkSolverPos> velocity_controllers::CartesianController::chain_fk_solver_ [private]

Definition at line 82 of file cartesian_controller.hpp.

boost::scoped_ptr<KDL::ChainIkSolverVel> velocity_controllers::CartesianController::chain_ik_solver_vel_ [private]

Definition at line 81 of file cartesian_controller.hpp.

KDL::Twist velocity_controllers::CartesianController::cmd_angular_twist_ [private]

Definition at line 85 of file cartesian_controller.hpp.

KDL::Twist velocity_controllers::CartesianController::cmd_linear_twist_ [private]

Definition at line 84 of file cartesian_controller.hpp.

ros::Duration velocity_controllers::CartesianController::dead_man_timeout_ [private]

Definition at line 92 of file cartesian_controller.hpp.

bool velocity_controllers::CartesianController::got_msg_ [private]

Definition at line 89 of file cartesian_controller.hpp.

hardware_interface::JointHandle velocity_controllers::CartesianController::joint_ [private]

Definition at line 74 of file cartesian_controller.hpp.

std::vector<hardware_interface::JointHandle> velocity_controllers::CartesianController::joint_handles_ [private]

Definition at line 79 of file cartesian_controller.hpp.

double velocity_controllers::CartesianController::joint_vel_limit_ [private]

Definition at line 94 of file cartesian_controller.hpp.

KDL::Chain velocity_controllers::CartesianController::kdl_chain_ [private]

Definition at line 78 of file cartesian_controller.hpp.

KDL::Tree velocity_controllers::CartesianController::kdl_tree_ [private]

Definition at line 77 of file cartesian_controller.hpp.

ros::Time velocity_controllers::CartesianController::last_msg_ [private]

Definition at line 91 of file cartesian_controller.hpp.

std::string velocity_controllers::CartesianController::root_name_ [private]

Definition at line 87 of file cartesian_controller.hpp.

std::string velocity_controllers::CartesianController::tip_name_ [private]

Definition at line 87 of file cartesian_controller.hpp.

ros::Subscriber velocity_controllers::CartesianController::vel_cmd_sub_ [private]

Definition at line 75 of file cartesian_controller.hpp.

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

• cartesian_controller.hpp
• cartesian_controller.cpp