#include <cartesian_twist.h>

Inheritance diagram for robot_controllers::CartesianTwistController:

Public Member Functions
	CartesianTwistController ()
void	command (const geometry_msgs::TwistStamped::ConstPtr &goal)
	Controller command.
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims.
virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands.
virtual std::string	getType ()
	Get the type of this controller.
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures.
virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.
virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance.
virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance.
virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller.
virtual	~CartesianTwistController ()
Private Member Functions
KDL::Frame	getPose ()
Private Attributes
ros::Subscriber	command_sub_
bool	enabled_
ros::Publisher	feedback_pub_
boost::shared_ptr < KDL::ChainFkSolverPos_recursive >	fksolver_
bool	initialized_
bool	is_active_
std::vector< JointHandlePtr >	joints_
KDL::Chain	kdl_chain_
ros::Time	last_command_time_
KDL::JntArray	last_tgt_jnt_vel_
ControllerManager *	manager_
boost::mutex	mutex_
boost::shared_ptr < KDL::ChainIkSolverVel_wdls >	solver_
KDL::JntArray	tgt_jnt_pos_
KDL::JntArray	tgt_jnt_vel_
KDL::Twist	twist_command_
std::string	twist_command_frame_

Detailed Description

Definition at line 71 of file cartesian_twist.h.

Constructor & Destructor Documentation

robot_controllers::CartesianTwistController::CartesianTwistController ( )

Definition at line 54 of file cartesian_twist.cpp.

virtual robot_controllers::CartesianTwistController::~CartesianTwistController ( ) [inline, virtual]

Definition at line 75 of file cartesian_twist.h.

Member Function Documentation

void robot_controllers::CartesianTwistController::command ( const geometry_msgs::TwistStamped::ConstPtr & goal )

Controller command.

Definition at line 300 of file cartesian_twist.cpp.

std::vector< std::string > robot_controllers::CartesianTwistController::getClaimedNames ( ) [virtual]

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 360 of file cartesian_twist.cpp.

std::vector< std::string > robot_controllers::CartesianTwistController::getCommandedNames ( ) [virtual]

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 348 of file cartesian_twist.cpp.

KDL::Frame robot_controllers::CartesianTwistController::getPose ( ) [private]

virtual std::string robot_controllers::CartesianTwistController::getType ( ) [inline, virtual]

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 118 of file cartesian_twist.h.

int robot_controllers::CartesianTwistController::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)		`[virtual]`

Initialize the controller and any required data structures.

Parameters:

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns:: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 60 of file cartesian_twist.cpp.

bool robot_controllers::CartesianTwistController::reset ( ) [virtual]

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.