Class providing a ControllerInterface publishing JointGroupPositionCommands. More...

Inheritance diagram for cob_twist_controller::ControllerInterfacePosition:

Public Member Functions
	ControllerInterfacePosition ()
virtual void	initialize (ros::NodeHandle &nh, const TwistControllerParams &params)
virtual void	processResult (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfacePosition ()

Detailed Description

Class providing a ControllerInterface publishing JointGroupPositionCommands.

Definition at line 54 of file controller_interface.h.

Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfacePosition::ControllerInterfacePosition ( ) [inline]

Definition at line 57 of file controller_interface.h.

cob_twist_controller::ControllerInterfacePosition::~ControllerInterfacePosition ( ) [inline]

Definition at line 58 of file controller_interface.h.

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

Definition at line 52 of file controller_interface.cpp.

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

Method processing the result using integration method (Simpson) and publishing to the 'joint_group_position_controller/command' topic.

publish to interface

Definition at line 64 of file controller_interface.cpp.

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