VisualServoController Class Reference

#include <aras_visual_servo_controller.h>

List of all members.

Public Member Functions
void	executeControlAlgorithm ()
float *	getJointPositions ()
void	hardSetJointPosition (float target_positions[JOINTS_NUM])
void	setInitialPositions (float target_positions[JOINTS_NUM])
bool	setJointPositions (float target_positions[JOINTS_NUM])
void	setTargetPositions (float target_positions[JOINTS_NUM])
bool	Spin ()
	VisualServoController ()
	~VisualServoController ()
Private Member Functions
void	cameraDataCB (const std_msgs::Float64MultiArray::ConstPtr &camera_data_arr)
void	forwardKinematic (float target_joints[JOINTS_NUM], float &x, float &y, float &z, float &a)
void	initializePublishers ()
void	initializeSubscribers ()
void	inverseKinematic (float target_joints[JOINTS_NUM], float x, float y, float z, float a)
void	jointStateCB (const sensor_msgs::JointStatePtr &joint_states)
Private Attributes
bool	camera_call_backed_
ros::Subscriber	camera_data_sub_
cv::Mat	jacobian_inverse_mat_
ros::Publisher	joint_pub_ [JOINTS_NUM]
ros::Subscriber	joint_state_sub_
float	joints_position_ [JOINTS_NUM]
double	kernel_ [KERNEL_SIZE]
ros::NodeHandle	nh_
float	target_joints_position_ [JOINTS_NUM]
double	target_kernel_ [KERNEL_SIZE]
image_transport::Subscriber	threshold_image_sub_

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Detailed Description

Definition at line 35 of file aras_visual_servo_controller.h.

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Constructor & Destructor Documentation

VisualServoController::VisualServoController

(

)

Definition at line 2 of file aras_visual_servo_controller.cpp.

VisualServoController::~VisualServoController

(

)

Definition at line 245 of file aras_visual_servo_controller.cpp.

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Member Function Documentation

void VisualServoController::cameraDataCB

(

const std_msgs::Float64MultiArray::ConstPtr &

camera_data_arr

)

[private]

Definition at line 124 of file aras_visual_servo_controller.cpp.

void VisualServoController::executeControlAlgorithm

(

)

!!!!!!!yekbar etefagh biofad

Definition at line 146 of file aras_visual_servo_controller.cpp.

void VisualServoController::forwardKinematic	(	float	target_joints[JOINTS_NUM],
		float &	x,
		float &	y,
		float &	z,
		float &	a
	)		[private]

Definition at line 233 of file aras_visual_servo_controller.cpp.

float * VisualServoController::getJointPositions

(

)

Definition at line 19 of file aras_visual_servo_controller.cpp.

void VisualServoController::hardSetJointPosition

(

float

target_positions[JOINTS_NUM]

)

Definition at line 59 of file aras_visual_servo_controller.cpp.

void VisualServoController::initializePublishers

(

)

[private]

Definition at line 99 of file aras_visual_servo_controller.cpp.

void VisualServoController::initializeSubscribers

(

)

[private]

Definition at line 90 of file aras_visual_servo_controller.cpp.

void VisualServoController::inverseKinematic	(	float	target_joints[JOINTS_NUM],
		float	x,
		float	y,
		float	z,
		float	a
	)		[private]

Definition at line 218 of file aras_visual_servo_controller.cpp.

void VisualServoController::jointStateCB

(

const sensor_msgs::JointStatePtr &

joint_states

)

[private]

Definition at line 115 of file aras_visual_servo_controller.cpp.

void VisualServoController::setInitialPositions

(

float

target_positions[JOINTS_NUM]

)

Definition at line 45 of file aras_visual_servo_controller.cpp.

bool VisualServoController::setJointPositions

(

float

target_positions[JOINTS_NUM]

)

Definition at line 8 of file aras_visual_servo_controller.cpp.

void VisualServoController::setTargetPositions

(

float

target_positions[JOINTS_NUM]

)

Definition at line 24 of file aras_visual_servo_controller.cpp.

bool VisualServoController::Spin

(

)

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Member Data Documentation

bool VisualServoController::camera_call_backed_ [private]

Definition at line 50 of file aras_visual_servo_controller.h.

ros::Subscriber VisualServoController::camera_data_sub_ [private]

Definition at line 76 of file aras_visual_servo_controller.h.

cv::Mat VisualServoController::jacobian_inverse_mat_ [private]

Definition at line 70 of file aras_visual_servo_controller.h.

ros::Publisher VisualServoController::joint_pub_[JOINTS_NUM] [private]

Definition at line 74 of file aras_visual_servo_controller.h.

ros::Subscriber VisualServoController::joint_state_sub_ [private]

Definition at line 75 of file aras_visual_servo_controller.h.

float VisualServoController::joints_position_[JOINTS_NUM] [private]

Definition at line 63 of file aras_visual_servo_controller.h.

double VisualServoController::kernel_[KERNEL_SIZE] [private]

Definition at line 71 of file aras_visual_servo_controller.h.

ros::NodeHandle VisualServoController::nh_ [private]

Definition at line 73 of file aras_visual_servo_controller.h.

float VisualServoController::target_joints_position_[JOINTS_NUM] [private]

Definition at line 64 of file aras_visual_servo_controller.h.

double VisualServoController::target_kernel_[KERNEL_SIZE] [private]

Definition at line 68 of file aras_visual_servo_controller.h.

image_transport::Subscriber VisualServoController::threshold_image_sub_ [private]

Definition at line 66 of file aras_visual_servo_controller.h.

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

• aras_visual_servo_controller.h
• aras_visual_servo_controller.cpp