#include <carl_moveit.h>

Public Member Functions
	CarlMoveIt ()
	~CarlMoveIt ()
Private Member Functions
void	armHomedCallback (const std_msgs::Bool &msg)
void	armJointStatesCallback (const sensor_msgs::JointState &msg)
bool	attachClosestSceneObject (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
moveit_msgs::GetPositionIK::Response	callIK (geometry_msgs::PoseStamped pose)
void	cartesianControlCallback (const geometry_msgs::Twist &msg)
bool	cartesianPathCallback (rail_manipulation_msgs::CartesianPath::Request &req, rail_manipulation_msgs::CartesianPath::Response &res)
bool	detachSceneObjects (std_srvs::Empty::Request &req, std_srvs::Empty::Response &res)
bool	ikCallback (rail_manipulation_msgs::CallIK::Request &req, rail_manipulation_msgs::CallIK::Response &res)
void	moveToJointPose (const rail_manipulation_msgs::MoveToJointPoseGoalConstPtr &goal)
void	moveToPose (const rail_manipulation_msgs::MoveToPoseGoalConstPtr &goal)
void	recognizedObjectsCallback (const rail_manipulation_msgs::SegmentedObjectList &msg)
Private Attributes
ros::Publisher	angularCmdPublisher
boost::recursive_mutex	api_mutex
move_group_interface::MoveGroup *	armGroup
ros::Subscriber	armHomedSubscriber
ros::Subscriber	armJointStateSubscriber
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	armTrajectoryClient
std::vector< std::string >	attachedObjects
ros::ServiceServer	attachObjectServer
ros::Subscriber	cartesianControlSubscriber
ros::ServiceServer	cartesianPathServer
ros::ServiceClient	clearOctomapClient
ros::ServiceServer	detachObjectServer
ros::ServiceClient	ikClient
ros::ServiceServer	ikServer
sensor_msgs::JointState	jointState
actionlib::SimpleActionServer < rail_manipulation_msgs::MoveToJointPoseAction >	moveToJointPoseServer
actionlib::SimpleActionServer < rail_manipulation_msgs::MoveToPoseAction >	moveToPoseServer
ros::NodeHandle	n
rail_manipulation_msgs::SegmentedObjectList	objectList
move_group_interface::PlanningSceneInterface *	planningSceneInterface
ros::Subscriber	recognizedObjectsSubscriber
tf::TransformListener	tf
tf2_ros::Buffer	tfBuffer
tf2_ros::TransformListener	tfListener
ros::Publisher	trajectoryVisPublisher
std::vector< std::string >	unattachedObjects

Detailed Description

Definition at line 46 of file carl_moveit.h.

Constructor & Destructor Documentation

CarlMoveIt::CarlMoveIt ( )

Definition at line 6 of file carl_moveit.cpp.

CarlMoveIt::~CarlMoveIt ( )

Definition at line 39 of file carl_moveit.cpp.

Member Function Documentation

void CarlMoveIt::armHomedCallback ( const std_msgs::Bool & msg ) [private]

Definition at line 45 of file carl_moveit.cpp.

void CarlMoveIt::armJointStatesCallback ( const sensor_msgs::JointState & msg ) [private]

Definition at line 55 of file carl_moveit.cpp.

bool CarlMoveIt::attachClosestSceneObject	(	std_srvs::Empty::Request &	req,
		std_srvs::Empty::Response &	res
	)		`[private]`

Definition at line 520 of file carl_moveit.cpp.

moveit_msgs::GetPositionIK::Response CarlMoveIt::callIK ( geometry_msgs::PoseStamped pose ) [private]

Definition at line 344 of file carl_moveit.cpp.

void CarlMoveIt::cartesianControlCallback ( const geometry_msgs::Twist & msg ) [private]

Definition at line 370 of file carl_moveit.cpp.

bool CarlMoveIt::cartesianPathCallback	(	rail_manipulation_msgs::CartesianPath::Request &	req,
		rail_manipulation_msgs::CartesianPath::Response &	res
	)		`[private]`