controller::JTCartesianController Class Reference

#include <jt_cartesian_controller.h>

Inheritance diagram for controller::JTCartesianController:

List of all members.

Public Member Functions
void	commandPose (const geometry_msgs::PoseStamped::ConstPtr &command)
void	commandPosture (const std_msgs::Float64MultiArray::ConstPtr &msg)
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	JTCartesianController ()
void	setGains (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	starting ()
void	update ()
	~JTCartesianController ()
Public Attributes
pr2_mechanism_model::Chain	chain_
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
double	jacobian_inverse_damping_
JointVec	joint_dd_ff_
double	joint_vel_filter_
double	k_posture_
Eigen::Matrix< double, 6, 1 >	Kd
boost::scoped_ptr< Kin< Joints > >	kin_
Eigen::Matrix< double, 6, 1 >	Kp
Eigen::Affine3d	last_pose_
ros::Time	last_time_
CartVec	last_wrench_
int	loop_count_
ros::NodeHandle	node_
double	pose_command_filter_
realtime_tools::RealtimePublisher < StateMsg >	pub_state_
realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped >	pub_x_desi_
JointVec	q_posture_
JointVec	qdot_filtered_
double	res_force_
double	res_orientation_
double	res_position_
double	res_torque_
pr2_mechanism_model::RobotState *	robot_state_
std::string	root_name_
JointVec	saturation_
ros::Subscriber	sub_gains_
ros::Subscriber	sub_pose_
ros::Subscriber	sub_posture_
tf::TransformListener	tf_
std::string	tip_name_
bool	use_posture_
double	vel_saturation_rot_
double	vel_saturation_trans_
CartVec	wrench_desi_
Eigen::Affine3d	x_desi_
Eigen::Affine3d	x_desi_filtered_
Private Types
enum	{ Joints = 7 }
typedef Eigen::Matrix< double, 6, 1 >	CartVec
typedef Eigen::Matrix< double, 6, Joints >	Jacobian
typedef Eigen::Matrix< double, Joints, 1 >	JointVec
typedef robot_mechanism_controllers::JTCartesianControllerState	StateMsg

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Detailed Description

Definition at line 100 of file jt_cartesian_controller.h.

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Member Typedef Documentation

typedef Eigen::Matrix<double, 6, 1> controller::JTCartesianController::CartVec [private]

Definition at line 109 of file jt_cartesian_controller.h.

typedef Eigen::Matrix<double, 6, Joints> controller::JTCartesianController::Jacobian [private]

Definition at line 110 of file jt_cartesian_controller.h.

typedef Eigen::Matrix<double, Joints, 1> controller::JTCartesianController::JointVec [private]

Definition at line 108 of file jt_cartesian_controller.h.

typedef robot_mechanism_controllers::JTCartesianControllerState controller::JTCartesianController::StateMsg [private]

Definition at line 111 of file jt_cartesian_controller.h.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

Joints

Definition at line 107 of file jt_cartesian_controller.h.

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Constructor & Destructor Documentation

controller::JTCartesianController::JTCartesianController

(

)

Definition at line 51 of file jt_cartesian_controller.cpp.

controller::JTCartesianController::~JTCartesianController

(

)

Definition at line 55 of file jt_cartesian_controller.cpp.

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Member Function Documentation

void controller::JTCartesianController::commandPose

(

const geometry_msgs::PoseStamped::ConstPtr &

command

)

[inline]

Definition at line 190 of file jt_cartesian_controller.h.

void controller::JTCartesianController::commandPosture

(

const std_msgs::Float64MultiArray::ConstPtr &

msg

)

[inline]

Definition at line 172 of file jt_cartesian_controller.h.

bool controller::JTCartesianController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 63 of file jt_cartesian_controller.cpp.

void controller::JTCartesianController::setGains

(

const std_msgs::Float64MultiArray::ConstPtr &

msg

)

[inline]

Definition at line 159 of file jt_cartesian_controller.h.

void controller::JTCartesianController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 174 of file jt_cartesian_controller.cpp.

void controller::JTCartesianController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 200 of file jt_cartesian_controller.cpp.

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Member Data Documentation

pr2_mechanism_model::Chain controller::JTCartesianController::chain_

Definition at line 137 of file jt_cartesian_controller.h.

controller::JTCartesianController::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 105 of file jt_cartesian_controller.h.

double controller::JTCartesianController::jacobian_inverse_damping_

Definition at line 145 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::joint_dd_ff_

Definition at line 143 of file jt_cartesian_controller.h.

double controller::JTCartesianController::joint_vel_filter_

Definition at line 144 of file jt_cartesian_controller.h.

double controller::JTCartesianController::k_posture_

Definition at line 147 of file jt_cartesian_controller.h.

Eigen::Matrix<double,6,1> controller::JTCartesianController::Kd

Definition at line 139 of file jt_cartesian_controller.h.

boost::scoped_ptr<Kin<Joints> > controller::JTCartesianController::kin_

Definition at line 138 of file jt_cartesian_controller.h.

Eigen::Matrix<double,6,1> controller::JTCartesianController::Kp

Definition at line 139 of file jt_cartesian_controller.h.

Eigen::Affine3d controller::JTCartesianController::last_pose_

Definition at line 154 of file jt_cartesian_controller.h.

ros::Time controller::JTCartesianController::last_time_

Definition at line 133 of file jt_cartesian_controller.h.

CartVec controller::JTCartesianController::last_wrench_

Definition at line 155 of file jt_cartesian_controller.h.

int controller::JTCartesianController::loop_count_

Definition at line 134 of file jt_cartesian_controller.h.

ros::NodeHandle controller::JTCartesianController::node_

Definition at line 123 of file jt_cartesian_controller.h.

double controller::JTCartesianController::pose_command_filter_

Definition at line 140 of file jt_cartesian_controller.h.

realtime_tools::RealtimePublisher<StateMsg> controller::JTCartesianController::pub_state_

Definition at line 129 of file jt_cartesian_controller.h.

realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> controller::JTCartesianController::pub_x_desi_

Definition at line 130 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::q_posture_

Definition at line 146 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::qdot_filtered_

Definition at line 157 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_force_

Definition at line 151 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_orientation_

Definition at line 152 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_position_

Definition at line 151 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_torque_

Definition at line 152 of file jt_cartesian_controller.h.

pr2_mechanism_model::RobotState* controller::JTCartesianController::robot_state_

Definition at line 135 of file jt_cartesian_controller.h.

std::string controller::JTCartesianController::root_name_

Definition at line 132 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::saturation_

Definition at line 142 of file jt_cartesian_controller.h.

ros::Subscriber controller::JTCartesianController::sub_gains_

Definition at line 124 of file jt_cartesian_controller.h.

ros::Subscriber controller::JTCartesianController::sub_pose_

Definition at line 126 of file jt_cartesian_controller.h.

ros::Subscriber controller::JTCartesianController::sub_posture_

Definition at line 125 of file jt_cartesian_controller.h.

tf::TransformListener controller::JTCartesianController::tf_

Definition at line 127 of file jt_cartesian_controller.h.

std::string controller::JTCartesianController::tip_name_

Definition at line 132 of file jt_cartesian_controller.h.

bool controller::JTCartesianController::use_posture_

Definition at line 148 of file jt_cartesian_controller.h.

double controller::JTCartesianController::vel_saturation_rot_

Definition at line 141 of file jt_cartesian_controller.h.

double controller::JTCartesianController::vel_saturation_trans_

Definition at line 141 of file jt_cartesian_controller.h.

CartVec controller::JTCartesianController::wrench_desi_

Definition at line 121 of file jt_cartesian_controller.h.

Eigen::Affine3d controller::JTCartesianController::x_desi_

Definition at line 120 of file jt_cartesian_controller.h.

Eigen::Affine3d controller::JTCartesianController::x_desi_filtered_

Definition at line 120 of file jt_cartesian_controller.h.

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

• jt_cartesian_controller.h
• jt_cartesian_controller.cpp