Public Member Functions
cob_twist_controller::ControllerInterfaceTrajectory Class Reference

Class providing a ControllerInterface publishing a JointTrajectory. More...

#include <controller_interface.h>

Inheritance diagram for cob_twist_controller::ControllerInterfaceTrajectory:
Inheritance graph

List of all members.

Public Member Functions

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

Detailed Description

Class providing a ControllerInterface publishing a JointTrajectory.

Definition at line 70 of file controller_interface.h.

Constructor & Destructor Documentation

Definition at line 73 of file controller_interface.h.

Definition at line 74 of file controller_interface.h.

Member Function Documentation

void cob_twist_controller::ControllerInterfaceTrajectory::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_trajectory_controller/command' topic.

publish to interface

Implements cob_twist_controller::ControllerInterfaceBase.

Definition at line 91 of file controller_interface.cpp.

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

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