Public Member Functions | Private Member Functions | Private Attributes
cob_twist_controller::ControllerInterfaceJointStates Class Reference

Class providing a ControllerInterface publishing JointStates. More...

#include <controller_interface.h>

Inheritance diagram for cob_twist_controller::ControllerInterfaceJointStates:
Inheritance graph
[legend]

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_

Detailed Description

Class providing a ControllerInterface publishing JointStates.

Definition at line 85 of file controller_interface.h.


Constructor & Destructor Documentation

Definition at line 88 of file controller_interface.h.

Definition at line 89 of file controller_interface.h.


Member Function Documentation

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.

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

Definition at line 176 of file controller_interface.cpp.


Member Data Documentation

Definition at line 98 of file controller_interface.h.

Definition at line 100 of file controller_interface.h.

Definition at line 97 of file controller_interface.h.


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


cob_twist_controller
Author(s): Felix Messmer , Marco Bezzon , Christoph Mark , Francisco Moreno
autogenerated on Thu Jun 6 2019 21:19:26