cob_twist_controller::ControllerInterfaceJointStates Class Reference

Class providing a ControllerInterface publishing JointStates. More...

#include <controller_interface.h>

Inheritance diagram for cob_twist_controller::ControllerInterfaceJointStates:

List of all members.

Public Member Functions
	ControllerInterfaceJointStates ()
virtual void	initialize (ros::NodeHandle &nh, const TwistControllerParams &params)
virtual void	processResult (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfaceJointStates ()
Private Member Functions
void	publishJointState (const ros::TimerEvent &event)
Private Attributes
sensor_msgs::JointState	js_msg_
ros::Timer	js_timer_
boost::mutex	mutex_

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Detailed Description

Class providing a ControllerInterface publishing JointStates.

Definition at line 85 of file controller_interface.h.

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Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfaceJointStates::ControllerInterfaceJointStates

(

)

[inline]

Definition at line 88 of file controller_interface.h.

cob_twist_controller::ControllerInterfaceJointStates::~ControllerInterfaceJointStates

(

)

[inline]

Definition at line 89 of file controller_interface.h.

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Member Function Documentation

void cob_twist_controller::ControllerInterfaceJointStates::initialize	(	ros::NodeHandle &	nh,
		const TwistControllerParams &	params
	)		[virtual]

Implements cob_twist_controller::ControllerInterfaceBase.

Definition at line 116 of file controller_interface.cpp.

void cob_twist_controller::ControllerInterfaceJointStates::processResult	(	const KDL::JntArray &	q_dot_ik,
		const KDL::JntArray &	current_q
	)		[inline, virtual]

Method processing the result using integration method (Simpson) updating the internal JointState.

update JointState

publishing takes place in separate thread

Implements cob_twist_controller::ControllerInterfaceBase.

Definition at line 159 of file controller_interface.cpp.

void cob_twist_controller::ControllerInterfaceJointStates::publishJointState

(

const ros::TimerEvent &

event

)

[private]

Timer callback publishing the internal JointState to the 'joint_state' topic.

Definition at line 176 of file controller_interface.cpp.

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Member Data Documentation

sensor_msgs::JointState cob_twist_controller::ControllerInterfaceJointStates::js_msg_ [private]

Definition at line 98 of file controller_interface.h.

ros::Timer cob_twist_controller::ControllerInterfaceJointStates::js_timer_ [private]

Definition at line 100 of file controller_interface.h.

boost::mutex cob_twist_controller::ControllerInterfaceJointStates::mutex_ [private]

Definition at line 97 of file controller_interface.h.

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

• controller_interface.h
• controller_interface.cpp