#include <joint_state.hpp>
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_ |
Detailed Description
Definition at line 40 of file converters/joint_state.hpp.
Member Typedef Documentation
typedef boost::shared_ptr<tf2_ros::Buffer> naoqi::converter::JointStateConverter::BufferPtr [private] |
Definition at line 45 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 43 of file converters/joint_state.hpp.
typedef std::map<std::string, boost::shared_ptr<urdf::JointMimic> > naoqi::converter::JointStateConverter::MimicMap [private] |
Definition at line 47 of file converters/joint_state.hpp.
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.
Definition at line 51 of file converters/joint_state.cpp.
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.
Member Data Documentation
std::map<message_actions::MessageAction, Callback_t> naoqi::converter::JointStateConverter::callbacks_ [private] |
Registered Callbacks
Definition at line 75 of file converters/joint_state.hpp.
MimicJoint List
Definition at line 81 of file converters/joint_state.hpp.
sensor_msgs::JointState naoqi::converter::JointStateConverter::msg_joint_states_ [private] |
JointState Message
Definition at line 84 of file converters/joint_state.hpp.
qi::AnyObject naoqi::converter::JointStateConverter::p_motion_ [private] |
Motion Proxy
Definition at line 72 of file converters/joint_state.hpp.
std::string naoqi::converter::JointStateConverter::robot_desc_ [private] |
Robot Description in xml format
Definition at line 78 of file converters/joint_state.hpp.
std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_ [private] |
Definition at line 64 of file converters/joint_state.hpp.
std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_fixed_ [private] |
Definition at line 64 of file converters/joint_state.hpp.
Global Shared tf2 buffer
Definition at line 69 of file converters/joint_state.hpp.
std::vector<geometry_msgs::TransformStamped> naoqi::converter::JointStateConverter::tf_transforms_ [private] |
Transform Messages
Definition at line 87 of file converters/joint_state.hpp.
The documentation for this class was generated from the following files: