CobLookAtAction Class Reference

#include <cob_lookat_action_server.h>

List of all members.

Public Member Functions
	CobLookAtAction (std::string action_name)
void	goalCB (const cob_lookat_action::LookAtGoalConstPtr &goal)
bool	init ()
	~CobLookAtAction (void)
Protected Attributes
std::string	chain_base_link_
KDL::Chain	chain_main_
std::string	chain_tip_link_
actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction > *	fjt_ac_
std::string	fjt_name_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	fk_solver_pos_
boost::shared_ptr < KDL::ChainIkSolverPos_NR >	ik_solver_pos_
boost::shared_ptr < KDL::ChainIkSolverVel_pinv >	ik_solver_vel_
std::vector< std::string >	joint_names_
actionlib::SimpleActionServer < cob_lookat_action::LookAtAction > *	lookat_as_
cob_lookat_action::LookAtFeedback	lookat_fb_
std::string	lookat_name_
cob_lookat_action::LookAtResult	lookat_res_
ros::NodeHandle	nh_
tf::TransformListener	tf_listener_

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Detailed Description

Definition at line 43 of file cob_lookat_action_server.h.

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Constructor & Destructor Documentation

CobLookAtAction::CobLookAtAction

(

std::string

action_name

)

[inline]

Definition at line 69 of file cob_lookat_action_server.h.

CobLookAtAction::~CobLookAtAction

(

void

)

[inline]

Definition at line 74 of file cob_lookat_action_server.h.

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Member Function Documentation

void CobLookAtAction::goalCB

(

const cob_lookat_action::LookAtGoalConstPtr &

goal

)

set up lookat chain

transform pointing_frame to offset

set up solver

transform target_frame to p_in

solution valid?

execute solution as FJT

fjt action successful?

lookat action successful?

Definition at line 70 of file cob_lookat_action_server.cpp.

bool CobLookAtAction::init

(

)

get parameters from parameter server

parse robot_description and generate KDL chains

Definition at line 22 of file cob_lookat_action_server.cpp.

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Member Data Documentation

std::string CobLookAtAction::chain_base_link_ [protected]

Definition at line 57 of file cob_lookat_action_server.h.

KDL::Chain CobLookAtAction::chain_main_ [protected]

Definition at line 60 of file cob_lookat_action_server.h.

std::string CobLookAtAction::chain_tip_link_ [protected]

Definition at line 58 of file cob_lookat_action_server.h.

actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>* CobLookAtAction::fjt_ac_ [protected]

Definition at line 49 of file cob_lookat_action_server.h.

std::string CobLookAtAction::fjt_name_ [protected]

Definition at line 51 of file cob_lookat_action_server.h.

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> CobLookAtAction::fk_solver_pos_ [protected]

Definition at line 61 of file cob_lookat_action_server.h.

boost::shared_ptr<KDL::ChainIkSolverPos_NR> CobLookAtAction::ik_solver_pos_ [protected]

Definition at line 63 of file cob_lookat_action_server.h.

boost::shared_ptr<KDL::ChainIkSolverVel_pinv> CobLookAtAction::ik_solver_vel_ [protected]

Definition at line 62 of file cob_lookat_action_server.h.

std::vector<std::string> CobLookAtAction::joint_names_ [protected]

Definition at line 56 of file cob_lookat_action_server.h.

actionlib::SimpleActionServer<cob_lookat_action::LookAtAction>* CobLookAtAction::lookat_as_ [protected]

Definition at line 50 of file cob_lookat_action_server.h.

cob_lookat_action::LookAtFeedback CobLookAtAction::lookat_fb_ [protected]

Definition at line 53 of file cob_lookat_action_server.h.

std::string CobLookAtAction::lookat_name_ [protected]

Definition at line 52 of file cob_lookat_action_server.h.

cob_lookat_action::LookAtResult CobLookAtAction::lookat_res_ [protected]

Definition at line 54 of file cob_lookat_action_server.h.

ros::NodeHandle CobLookAtAction::nh_ [protected]

Definition at line 47 of file cob_lookat_action_server.h.

tf::TransformListener CobLookAtAction::tf_listener_ [protected]

Definition at line 65 of file cob_lookat_action_server.h.

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

• cob_lookat_action_server.h
• cob_lookat_action_server.cpp