jog_arm::JogArmServer Class Reference

#include <jog_arm_server.h>

List of all members.

Public Member Functions
	JogArmServer (std::string move_group_name, std::string cmd_topic_name)
Protected Types
typedef Eigen::Matrix< double, 6, 1 >	Vector6d
Protected Member Functions
bool	addJointIncrements (sensor_msgs::JointState &output, const Eigen::VectorXd &increments) const
bool	checkConditionNumber (const Eigen::MatrixXd &matrix, double threshold) const
void	commandCB (geometry_msgs::TwistStampedConstPtr msg)
void	jointStateCB (sensor_msgs::JointStateConstPtr msg)
Eigen::MatrixXd	pseudoInverse (const Eigen::MatrixXd &J) const
Vector6d	scaleCommand (const geometry_msgs::TwistStamped &command, const Vector6d &scalar) const
Protected Attributes
moveit::planning_interface::MoveGroup	arm_
ros::Subscriber	cmd_sub_
sensor_msgs::JointState	current_joints_
const robot_state::JointModelGroup *	joint_model_group_
std::vector< std::string >	joint_names_
ros::Subscriber	joint_sub_
robot_state::RobotStatePtr	kinematic_state_
tf::TransformListener	listener_
ros::NodeHandle	nh_
ros::AsyncSpinner	spinner_

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Detailed Description

Class JogArmServer - Provides the jog_arm action.

Definition at line 54 of file jog_arm_server.h.

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Member Typedef Documentation

typedef Eigen::Matrix<double, 6, 1> jog_arm::JogArmServer::Vector6d [protected]

Definition at line 64 of file jog_arm_server.h.

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Constructor & Destructor Documentation

jog_arm::JogArmServer::JogArmServer	(	std::string	move_group_name,
		std::string	cmd_topic_name
	)

: Default constructor for JogArmServer Class.

Topic Setup

MoveIt Setup

Definition at line 35 of file jog_arm_server.cpp.

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Member Function Documentation

bool jog_arm::JogArmServer::addJointIncrements	(	sensor_msgs::JointState &	output,
		const Eigen::VectorXd &	increments
	)		const [protected]

Definition at line 176 of file jog_arm_server.cpp.

bool jog_arm::JogArmServer::checkConditionNumber	(	const Eigen::MatrixXd &	matrix,
		double	threshold
	)		const [protected]

Definition at line 190 of file jog_arm_server.cpp.

void jog_arm::JogArmServer::commandCB

(

geometry_msgs::TwistStampedConstPtr

msg

)

[protected]

Definition at line 69 of file jog_arm_server.cpp.

void jog_arm::JogArmServer::jointStateCB

(

sensor_msgs::JointStateConstPtr

msg

)

[protected]

Definition at line 141 of file jog_arm_server.cpp.

Eigen::MatrixXd jog_arm::JogArmServer::pseudoInverse

(

const Eigen::MatrixXd &

J

)

const [protected]

Definition at line 170 of file jog_arm_server.cpp.

JogArmServer::Vector6d jog_arm::JogArmServer::scaleCommand	(	const geometry_msgs::TwistStamped &	command,
		const Vector6d &	scalar
	)		const [protected]

Definition at line 156 of file jog_arm_server.cpp.

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Member Data Documentation

moveit::planning_interface::MoveGroup jog_arm::JogArmServer::arm_ [protected]

Definition at line 82 of file jog_arm_server.h.

ros::Subscriber jog_arm::JogArmServer::cmd_sub_ [protected]

Definition at line 80 of file jog_arm_server.h.

sensor_msgs::JointState jog_arm::JogArmServer::current_joints_ [protected]

Definition at line 86 of file jog_arm_server.h.

const robot_state::JointModelGroup* jog_arm::JogArmServer::joint_model_group_ [protected]

Definition at line 83 of file jog_arm_server.h.

std::vector<std::string> jog_arm::JogArmServer::joint_names_ [protected]

Definition at line 88 of file jog_arm_server.h.

ros::Subscriber jog_arm::JogArmServer::joint_sub_ [protected]

Definition at line 80 of file jog_arm_server.h.

robot_state::RobotStatePtr jog_arm::JogArmServer::kinematic_state_ [protected]

Definition at line 84 of file jog_arm_server.h.

tf::TransformListener jog_arm::JogArmServer::listener_ [protected]

Definition at line 92 of file jog_arm_server.h.

ros::NodeHandle jog_arm::JogArmServer::nh_ [protected]

Definition at line 78 of file jog_arm_server.h.

ros::AsyncSpinner jog_arm::JogArmServer::spinner_ [protected]

Definition at line 90 of file jog_arm_server.h.

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

• jog_arm_server.h
• jog_arm_server.cpp