generic_control_toolbox Namespace Reference

Namespaces
namespace	manage_actionlib
Classes
class	BagManager
class	ControllerActionNode
class	ControllerBase
class	ControllerTemplate
class	KDLManager
class	ManagerBase
class	MarkerManager
class	MatrixParser
class	RosControlInterface
class	WrenchManager
Typedefs
typedef boost::shared_ptr < ControllerBase >	BasePtr
Enumerations
enum	JointType { EFFORT, VELOCITY, POSITION }
enum	MarkerType { sphere, arrow }
Functions
bool	getArmInfo (const std::string &arm_name, ArmInfo &info, ros::NodeHandle &nh)
bool	getArmInfo (const std::string &arm_name, ArmInfo &info)
bool	setKDLManager (const ArmInfo &arm_info, std::shared_ptr< KDLManager > manager)
bool	setKDLManagerNso (const ArmInfo &arm_info, std::shared_ptr< KDLManager > manager)
bool	setWrenchManager (const ArmInfo &arm_info, WrenchManager &manager)
bool	setWrenchManager (const ArmInfo &arm_info, std::shared_ptr< WrenchManager > &manager)
Variables
const double	MAX_DT = 0.5

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Typedef Documentation

typedef boost::shared_ptr<ControllerBase> generic_control_toolbox::BasePtr

Definition at line 344 of file controller_template.hpp.

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Enumeration Type Documentation

enum generic_control_toolbox::JointType

Enumerator:

EFFORT
VELOCITY
POSITION

Definition at line 11 of file ros_control_interface.hpp.

enum generic_control_toolbox::MarkerType

Enumerator:

sphere
arrow

Definition at line 13 of file marker_manager.hpp.

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Function Documentation

bool generic_control_toolbox::getArmInfo	(	const std::string &	arm_name,
		ArmInfo &	info,
		ros::NodeHandle &	nh
	)

Fill in an ArmInfo structure with the parameters of the arm. Uses the ros parameter server.

Searches for "arm_name/kdl_eef_frame", "arm_name/gripping_frame", "arm_name/has_state_", "arm_name/sensor_frame" and "arm_name/sensor_topic", relative to the calling node's name.

Parameters:

arm_name	The arm name used in the ros parameter server.
info	The ArmInfo structure to fill in.
nh	The ros nodehandle

Returns:

True for success, false otherwise

Definition at line 15 of file manager_base.cpp.

bool generic_control_toolbox::getArmInfo	(	const std::string &	arm_name,
		ArmInfo &	info
	)

getArmInfo overload which creates a private nodehandle

Definition at line 8 of file manager_base.cpp.

bool generic_control_toolbox::setKDLManager	(	const ArmInfo &	arm_info,
		std::shared_ptr< KDLManager >	manager
	)

Initializes a kdl manager class with the given arm info. Uses the ros parameter server to obtain information.

Parameters:

arm_info	The arm information.
manager	Reference to the kdl manager.

Returns:

False if something goes wrong, true otherwise.

Definition at line 1048 of file kdl_manager.cpp.

bool generic_control_toolbox::setKDLManagerNso	(	const ArmInfo &	arm_info,
		std::shared_ptr< KDLManager >	manager
	)

Initializes a kdl manager class with the given arm info. Uses nullspace optimization. Uses the ros parameter server to obtain information.

Parameters:

arm_info	The arm information.
manager	Reference to the kdl manager.

Returns:

False if something goes wrong, true otherwise.

bool generic_control_toolbox::setWrenchManager	(	const ArmInfo &	arm_info,
		WrenchManager &	manager
	)

Initializes a wrench manager class with the given arm's sensor info. Uses the ros parameter server to obtain information."

Parameters:

arm_info	The arm information
manager	Shared pointer to the wrench manager.

Returns:

False if something goes wrong, true otherwise.

Definition at line 166 of file wrench_manager.cpp.

bool generic_control_toolbox::setWrenchManager	(	const ArmInfo &	arm_info,
		std::shared_ptr< WrenchManager > &	manager
	)

Definition at line 190 of file wrench_manager.cpp.

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Variable Documentation

const double generic_control_toolbox::MAX_DT = 0.5

Definition at line 13 of file controller_template.hpp.