JacoInteractiveManipulation Class Reference

#include <jaco_interactive_manipulation.h>

List of all members.

Public Member Functions
	JacoInteractiveManipulation ()
	Constructor.
void	processHandMarkerFeedback (const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback)
	Process feedback for the interactive marker on the JACO's end effector.
void	updateJoints (const sensor_msgs::JointState::ConstPtr &msg)
	Callback for the joint state listener.
void	updateMarkerPosition ()
	Update the interactive marker on the JACO's end effector to move based on the the current joint state of the arm.
Private Member Functions
bool	loadParameters (const ros::NodeHandle n)
void	makeHandMarker ()
	Create the interactive marker on the JACO's end effector, including pose controls and menus.
void	sendStopCommand ()
	Send a 0 velocity command to the robot's arm.
Private Attributes
actionlib::SimpleActionClient < rail_manipulation_msgs::GripperAction >	acGripper
actionlib::SimpleActionClient < wpi_jaco_msgs::HomeArmAction >	acHome
actionlib::SimpleActionClient < rail_manipulation_msgs::LiftAction >	acLift
std::string	arm_name_
ros::Publisher	cartesianCmd
ros::ServiceClient	eraseTrajectoriesClient
boost::shared_ptr < interactive_markers::InteractiveMarkerServer >	imServer
	interactive marker server
ros::ServiceClient	jacoFkClient
	forward kinematics
std::vector< float >	joints
	current joint state
ros::Subscriber	jointStateSubscriber
bool	lockPose
	flag to stop the arm from updating on pose changes, this is used to prevent the slight movement when left clicking on the center of the marker
interactive_markers::MenuHandler	menuHandler
	interactive marker menu handler
ros::NodeHandle	n
ros::ServiceClient	qeClient
	rotation representation conversion client

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Detailed Description

Definition at line 39 of file jaco_interactive_manipulation.h.

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Constructor & Destructor Documentation

JacoInteractiveManipulation::JacoInteractiveManipulation

(

)

Constructor.

Definition at line 5 of file jaco_interactive_manipulation.cpp.

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Member Function Documentation

bool JacoInteractiveManipulation::loadParameters

(

const ros::NodeHandle

n

)

[private]

Todo:

MdL [IMPR]: Return is values are all correctly loaded.

Definition at line 317 of file jaco_interactive_manipulation.cpp.

void JacoInteractiveManipulation::makeHandMarker

(

)

[private]

Create the interactive marker on the JACO's end effector, including pose controls and menus.

Definition at line 49 of file jaco_interactive_manipulation.cpp.

void JacoInteractiveManipulation::processHandMarkerFeedback

(

const visualization_msgs::InteractiveMarkerFeedbackConstPtr &

feedback

)

Process feedback for the interactive marker on the JACO's end effector.

Parameters:

feedback

interactive marker feedback

Definition at line 155 of file jaco_interactive_manipulation.cpp.

void JacoInteractiveManipulation::sendStopCommand

(

)

[private]

Send a 0 velocity command to the robot's arm.

Definition at line 276 of file jaco_interactive_manipulation.cpp.

void JacoInteractiveManipulation::updateJoints

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Callback for the joint state listener.

Parameters:

msg	new joint state message

Definition at line 41 of file jaco_interactive_manipulation.cpp.

void JacoInteractiveManipulation::updateMarkerPosition

(

)

Update the interactive marker on the JACO's end effector to move based on the the current joint state of the arm.

Definition at line 298 of file jaco_interactive_manipulation.cpp.

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Member Data Documentation

actionlib::SimpleActionClient<rail_manipulation_msgs::GripperAction> JacoInteractiveManipulation::acGripper [private]

Definition at line 92 of file jaco_interactive_manipulation.h.

actionlib::SimpleActionClient<wpi_jaco_msgs::HomeArmAction> JacoInteractiveManipulation::acHome [private]

Definition at line 94 of file jaco_interactive_manipulation.h.

actionlib::SimpleActionClient<rail_manipulation_msgs::LiftAction> JacoInteractiveManipulation::acLift [private]

Definition at line 93 of file jaco_interactive_manipulation.h.

std::string JacoInteractiveManipulation::arm_name_ [private]

Definition at line 100 of file jaco_interactive_manipulation.h.

ros::Publisher JacoInteractiveManipulation::cartesianCmd [private]

Definition at line 83 of file jaco_interactive_manipulation.h.

ros::ServiceClient JacoInteractiveManipulation::eraseTrajectoriesClient [private]

Definition at line 87 of file jaco_interactive_manipulation.h.

boost::shared_ptr<interactive_markers::InteractiveMarkerServer> JacoInteractiveManipulation::imServer [private]

interactive marker server

Definition at line 96 of file jaco_interactive_manipulation.h.

ros::ServiceClient JacoInteractiveManipulation::jacoFkClient [private]

forward kinematics

Definition at line 88 of file jaco_interactive_manipulation.h.

std::vector<float> JacoInteractiveManipulation::joints [private]

current joint state

Definition at line 98 of file jaco_interactive_manipulation.h.

ros::Subscriber JacoInteractiveManipulation::jointStateSubscriber [private]

Definition at line 84 of file jaco_interactive_manipulation.h.

bool JacoInteractiveManipulation::lockPose [private]

flag to stop the arm from updating on pose changes, this is used to prevent the slight movement when left clicking on the center of the marker

Definition at line 99 of file jaco_interactive_manipulation.h.

interactive_markers::MenuHandler JacoInteractiveManipulation::menuHandler [private]

interactive marker menu handler

Definition at line 97 of file jaco_interactive_manipulation.h.

ros::NodeHandle JacoInteractiveManipulation::n [private]

Definition at line 80 of file jaco_interactive_manipulation.h.

ros::ServiceClient JacoInteractiveManipulation::qeClient [private]

rotation representation conversion client

Definition at line 89 of file jaco_interactive_manipulation.h.

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

• jaco_interactive_manipulation.h
• jaco_interactive_manipulation.cpp