RosMsgTreeIkTrajectoryFactory Class Reference

#include <RosMsgTreeIkTrajectoryFactory.h>

List of all members.

Public Member Functions
virtual boost::shared_ptr < RosMsgJointTrajectory >	getTrajectory (const sensor_msgs::JointState &jointPositions, const sensor_msgs::JointState &jointVels, const sensor_msgs::JointState &prevJointVels, const r2_msgs::PoseState &poseState, const r2_msgs::PoseState &poseVels, const r2_msgs::PoseTrajectory &goalTraj) const
	getTrajectory produces a trajectory object from the inputs
	RosMsgTreeIkTrajectoryFactory ()
void	setCartesianFactory (boost::shared_ptr< const SynchedCartesianTrajectoryFactory > factory_in)
void	setTreeIk (boost::shared_ptr< KdlTreeIk > treeIk_in)
virtual	~RosMsgTreeIkTrajectoryFactory ()
Protected Types
typedef CartesianTrajectorySequenceFactory < SynchedTrajectory >	sequenceFactoryType
Protected Attributes
boost::shared_ptr< const SynchedCartesianTrajectoryFactory >	factory
boost::shared_ptr < sequenceFactoryType >	sequenceFactory
boost::shared_ptr< KdlTreeIk >	treeIk

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Detailed Description

Definition at line 23 of file RosMsgTreeIkTrajectoryFactory.h.

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Member Typedef Documentation

typedef CartesianTrajectorySequenceFactory<SynchedTrajectory> RosMsgTreeIkTrajectoryFactory::sequenceFactoryType [protected]

Definition at line 60 of file RosMsgTreeIkTrajectoryFactory.h.

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Constructor & Destructor Documentation

RosMsgTreeIkTrajectoryFactory::RosMsgTreeIkTrajectoryFactory

(

)

[inline]

Definition at line 26 of file RosMsgTreeIkTrajectoryFactory.h.

virtual RosMsgTreeIkTrajectoryFactory::~RosMsgTreeIkTrajectoryFactory

(

)

[inline, virtual]

Definition at line 27 of file RosMsgTreeIkTrajectoryFactory.h.

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Member Function Documentation

boost::shared_ptr< RosMsgJointTrajectory > RosMsgTreeIkTrajectoryFactory::getTrajectory	(	const sensor_msgs::JointState &	jointPositions,
		const sensor_msgs::JointState &	jointVels,
		const sensor_msgs::JointState &	prevJointVels,
		const r2_msgs::PoseState &	poseState,
		const r2_msgs::PoseState &	poseVels,
		const r2_msgs::PoseTrajectory &	goalTraj
	)		const [virtual]

getTrajectory produces a trajectory object from the inputs

Parameters:

jointPositions	start joint positions
jointVels	start joint velocities
prevJointVels	previous joint velocities (joint states only hold pos & vel so the prev is used to derive acc)
poseState	start cartesian poses
poseVels	starting cartesian vels
goalTraj	goal joint positions

Definition at line 3 of file RosMsgTreeIkTrajectoryFactory.cpp.

void RosMsgTreeIkTrajectoryFactory::setCartesianFactory

(

boost::shared_ptr< const SynchedCartesianTrajectoryFactory >

factory_in

)

[inline]

Definition at line 29 of file RosMsgTreeIkTrajectoryFactory.h.

void RosMsgTreeIkTrajectoryFactory::setTreeIk

(

boost::shared_ptr< KdlTreeIk >

treeIk_in

)

[inline]

Definition at line 36 of file RosMsgTreeIkTrajectoryFactory.h.

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Member Data Documentation

boost::shared_ptr<const SynchedCartesianTrajectoryFactory> RosMsgTreeIkTrajectoryFactory::factory [protected]

Definition at line 62 of file RosMsgTreeIkTrajectoryFactory.h.

boost::shared_ptr<sequenceFactoryType> RosMsgTreeIkTrajectoryFactory::sequenceFactory [protected]

Definition at line 61 of file RosMsgTreeIkTrajectoryFactory.h.

boost::shared_ptr<KdlTreeIk> RosMsgTreeIkTrajectoryFactory::treeIk [protected]

Definition at line 58 of file RosMsgTreeIkTrajectoryFactory.h.

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

• RosMsgTreeIkTrajectoryFactory.h
• RosMsgTreeIkTrajectoryFactory.cpp