Message handler that streams joint trajectories to the robot controller. More...

#include <joint_trajectory_streamer.h>

Inheritance diagram for industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer:

Public Member Functions
virtual bool	init (SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
	Class initializer.
virtual void	jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
	Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot.
	JointTrajectoryStreamer (int min_buffer_size=1)
	Default constructor.
bool	send_to_robot (const std::vector< JointTrajPtMessage > &messages)
	Send trajectory to robot, using this node's robot-connection. Specific method must be implemented in a derived class (e.g. streaming, download, etc.)
void	streamingThread ()
virtual bool	trajectory_to_msgs (const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector< JointTrajPtMessage > *msgs)
	Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior.
	~JointTrajectoryStreamer ()
Protected Member Functions
void	trajectoryStop ()
	Send a stop command to the robot.
Protected Attributes
int	current_point_
std::vector< JointTrajPtMessage >	current_traj_
int	min_buffer_size_
boost::mutex	mutex_
TransferState	state_
ros::Time	streaming_start_
boost::thread *	streaming_thread_

Detailed Description

Message handler that streams joint trajectories to the robot controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 66 of file joint_trajectory_streamer.h.

Constructor & Destructor Documentation

industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::JointTrajectoryStreamer ( int min_buffer_size = 1 ) [inline]

Default constructor.

Parameters:

min_buffer_size minimum number of points as required by robot implementation

Definition at line 79 of file joint_trajectory_streamer.h.

industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::~JointTrajectoryStreamer ( )

Definition at line 61 of file joint_trajectory_streamer.cpp.

Member Function Documentation

bool industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::init	(	SmplMsgConnection *	connection,
		const std::vector< std::string > &	joint_names,
		const std::map< std::string, double > &	velocity_limits = `std::map<std::string, double>()`
	)		`[virtual]`

Class initializer.

Parameters:

connection	simple message connection that will be used to send commands to robot (ALREADY INITIALIZED)
joint_names	list of expected joint-names. Count and order should match data sent to robot connection. Use blank-name to insert a placeholder joint position (typ. 0.0). Joints in the incoming JointTrajectory stream that are NOT listed here will be ignored.
velocity_limits	map of maximum velocities for each joint leave empty to lookup from URDF

Returns:: true on success, false otherwise (an invalid message type)

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 41 of file joint_trajectory_streamer.cpp.

void industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::jointTrajectoryCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg ) [virtual]

Callback function registered to ROS topic-subscribe. Transform message into SimpleMessage objects and send commands to robot.

Parameters:

msg	JointTrajectory message from ROS trajectory-planner

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 66 of file joint_trajectory_streamer.cpp.

bool industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::send_to_robot ( const std::vector< JointTrajPtMessage > & messages ) [virtual]

Send trajectory to robot, using this node's robot-connection. Specific method must be implemented in a derived class (e.g. streaming, download, etc.)

Parameters:

messages List of SimpleMessage JointTrajPtMessages to send to robot.

Returns:: true on success, false otherwise

Implements industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 102 of file joint_trajectory_streamer.cpp.

void industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::streamingThread ( )

Definition at line 136 of file joint_trajectory_streamer.cpp.

bool industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer::trajectory_to_msgs	(	const trajectory_msgs::JointTrajectoryConstPtr &	traj,
		std::vector< JointTrajPtMessage > *	msgs
	)		`[virtual]`

Convert ROS trajectory message into stream of JointTrajPtMessages for sending to robot. Also includes various joint transforms that can be overridden for robot-specific behavior.

Parameters: