Manages moving joints to a new pose, determining when they are settled, and returning current joint_states. More...

#include <chain_manager.h>

Classes
struct	ChainController
Public Member Functions
	ChainManager (ros::NodeHandle &nh, double wait_time=15.0)
	Constructor, sets up chains from ros parameters.
std::vector< std::string >	getChainJointNames (const std::string &chain_name)
	Get the joint names associated with a chain. Mainly for testing.
std::vector< std::string >	getChains ()
	Get the names of chains. Mainly for testing.
std::string	getPlanningGroupName (const std::string &chain_name)
bool	getState (sensor_msgs::JointState *state)
	Get the current JointState message.
bool	moveToState (const sensor_msgs::JointState &state)
	Send commands to all managed joints. The ChainManager automatically figures out which controller to send these to.
bool	waitToSettle ()
	Wait for joints to settle.
Private Types
typedef actionlib::SimpleActionClient < moveit_msgs::MoveGroupAction >	MoveGroupClient
typedef boost::shared_ptr < MoveGroupClient >	MoveGroupClientPtr
typedef boost::shared_ptr < const moveit_msgs::MoveGroupResult >	MoveGroupResultPtr
typedef actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	TrajectoryClient
Private Member Functions
trajectory_msgs::JointTrajectoryPoint	makePoint (const sensor_msgs::JointState &state, const std::vector< std::string > &joints)
void	stateCallback (const sensor_msgs::JointStateConstPtr &msg)
Private Attributes
std::vector< boost::shared_ptr < ChainController > >	controllers_
double	duration_
MoveGroupClientPtr	move_group_
sensor_msgs::JointState	state_
boost::mutex	state_mutex_
ros::Subscriber	subscriber_
double	velocity_factor_

Detailed Description

Manages moving joints to a new pose, determining when they are settled, and returning current joint_states.

Definition at line 37 of file chain_manager.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction> robot_calibration::ChainManager::MoveGroupClient [private]

Definition at line 40 of file chain_manager.h.

typedef boost::shared_ptr<MoveGroupClient> robot_calibration::ChainManager::MoveGroupClientPtr [private]

Definition at line 41 of file chain_manager.h.

typedef boost::shared_ptr<const moveit_msgs::MoveGroupResult> robot_calibration::ChainManager::MoveGroupResultPtr [private]

Definition at line 42 of file chain_manager.h.

typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> robot_calibration::ChainManager::TrajectoryClient [private]

Definition at line 39 of file chain_manager.h.

Constructor & Destructor Documentation

robot_calibration::ChainManager::ChainManager	(	ros::NodeHandle &	nh,
		double	wait_time = `15.0`
	)

Constructor, sets up chains from ros parameters.

Parameters:

nh	The node handle, sets namespace for parameters.
wait_time	The time to wait for each action to come up.

Definition at line 25 of file chain_manager.cpp.

Member Function Documentation

std::vector< std::string > robot_calibration::ChainManager::getChainJointNames ( const std::string & chain_name )

Get the joint names associated with a chain. Mainly for testing.

Definition at line 285 of file chain_manager.cpp.

std::vector< std::string > robot_calibration::ChainManager::getChains ( )

Get the names of chains. Mainly for testing.

Definition at line 275 of file chain_manager.cpp.

std::string robot_calibration::ChainManager::getPlanningGroupName ( const std::string & chain_name )

Definition at line 297 of file chain_manager.cpp.

bool robot_calibration::ChainManager::getState ( sensor_msgs::JointState * state )

Get the current JointState message.

Definition at line 122 of file chain_manager.cpp.

trajectory_msgs::JointTrajectoryPoint robot_calibration::ChainManager::makePoint	(	const sensor_msgs::JointState &	state,
		const std::vector< std::string > &	joints
	)		`[private]`