naoqi::converter::JointStateConverter Class Reference

#include <joint_state.hpp>

Inheritance diagram for naoqi::converter::JointStateConverter:

List of all members.

Public Member Functions
void	callAll (const std::vector< message_actions::MessageAction > &actions)
	JointStateConverter (const std::string &name, const float &frequency, const BufferPtr &tf2_buffer, const qi::SessionPtr &session)
void	registerCallback (const message_actions::MessageAction action, Callback_t cb)
virtual void	reset ()
	~JointStateConverter ()
Private Types
typedef boost::shared_ptr < tf2_ros::Buffer >	BufferPtr
typedef boost::function< void(sensor_msgs::JointState &, std::vector < geometry_msgs::TransformStamped > &) >	Callback_t
typedef std::map< std::string, boost::shared_ptr < urdf::JointMimic > >	MimicMap
Private Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
void	setFixedTransforms (const std::string &tf_prefix, const ros::Time &time)
void	setTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
Private Attributes
std::map < message_actions::MessageAction, Callback_t >	callbacks_
MimicMap	mimic_
sensor_msgs::JointState	msg_joint_states_
qi::AnyObject	p_motion_
std::string	robot_desc_
std::map< std::string, robot_state_publisher::SegmentPair >	segments_
std::map< std::string, robot_state_publisher::SegmentPair >	segments_fixed_
BufferPtr	tf2_buffer_
std::vector < geometry_msgs::TransformStamped >	tf_transforms_

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Detailed Description

Definition at line 41 of file converters/joint_state.hpp.

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Member Typedef Documentation

typedef boost::shared_ptr<tf2_ros::Buffer> naoqi::converter::JointStateConverter::BufferPtr [private]

Definition at line 46 of file converters/joint_state.hpp.

typedef boost::function<void(sensor_msgs::JointState&, std::vector<geometry_msgs::TransformStamped>&) > naoqi::converter::JointStateConverter::Callback_t [private]

Definition at line 44 of file converters/joint_state.hpp.

typedef std::map<std::string, boost::shared_ptr<urdf::JointMimic> > naoqi::converter::JointStateConverter::MimicMap [private]

Definition at line 48 of file converters/joint_state.hpp.

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Constructor & Destructor Documentation

naoqi::converter::JointStateConverter::JointStateConverter	(	const std::string &	name,
		const float &	frequency,
		const BufferPtr &	tf2_buffer,
		const qi::SessionPtr &	session
	)

Definition at line 43 of file converters/joint_state.cpp.

naoqi::converter::JointStateConverter::~JointStateConverter

(

)

Definition at line 51 of file converters/joint_state.cpp.

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Member Function Documentation

void naoqi::converter::JointStateConverter::addChildren

(

const KDL::SegmentMap::const_iterator

segment

)

[private]

blatently copied from robot state publisher

Definition at line 245 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::callAll

(

const std::vector< message_actions::MessageAction > &

actions

)

JOINT STATE PUBLISHER

ROBOT STATE PUBLISHER

ODOMETRY

Definition at line 86 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::registerCallback	(	const message_actions::MessageAction	action,
		Callback_t	cb
	)

Definition at line 81 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::reset

(

)

[virtual]

Definition at line 56 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::setFixedTransforms	(	const std::string &	tf_prefix,
		const ros::Time &	time
	)		[private]

Definition at line 217 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::setTransforms	(	const std::map< std::string, double > &	joint_positions,
		const ros::Time &	time,
		const std::string &	tf_prefix
	)		[private]

Definition at line 185 of file converters/joint_state.cpp.

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Member Data Documentation

std::map<message_actions::MessageAction, Callback_t> naoqi::converter::JointStateConverter::callbacks_ [private]

Registered Callbacks

Definition at line 76 of file converters/joint_state.hpp.

MimicMap naoqi::converter::JointStateConverter::mimic_ [private]

MimicJoint List

Definition at line 82 of file converters/joint_state.hpp.

sensor_msgs::JointState naoqi::converter::JointStateConverter::msg_joint_states_ [private]

JointState Message

Definition at line 85 of file converters/joint_state.hpp.

qi::AnyObject naoqi::converter::JointStateConverter::p_motion_ [private]

Motion Proxy

Definition at line 73 of file converters/joint_state.hpp.

std::string naoqi::converter::JointStateConverter::robot_desc_ [private]

Robot Description in xml format

Definition at line 79 of file converters/joint_state.hpp.

std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_ [private]

Definition at line 65 of file converters/joint_state.hpp.

std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_fixed_ [private]

Definition at line 65 of file converters/joint_state.hpp.

BufferPtr naoqi::converter::JointStateConverter::tf2_buffer_ [private]

Global Shared tf2 buffer

Definition at line 70 of file converters/joint_state.hpp.

std::vector<geometry_msgs::TransformStamped> naoqi::converter::JointStateConverter::tf_transforms_ [private]

Transform Messages

Definition at line 88 of file converters/joint_state.hpp.

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

• converters/joint_state.hpp
• converters/joint_state.cpp