#include <cartesian_wrench.h>

Inheritance diagram for robot_controllers::CartesianWrenchController:

Public Member Functions
	CartesianWrenchController ()
void	command (const geometry_msgs::Wrench::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	~CartesianWrenchController ()
Private Member Functions
void	updateJoints ()
Private Attributes
ros::Subscriber	command_sub_
KDL::Wrench	desired_wrench_
bool	enabled_
ros::Publisher	feedback_pub_
bool	initialized_
boost::shared_ptr < KDL::ChainJntToJacSolver >	jac_solver_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_eff_
KDL::JntArray	jnt_pos_
std::vector< JointHandlePtr >	joints_
KDL::Chain	kdl_chain_
ros::Time	last_command_
ControllerManager *	manager_
std::string	root_link_
tf::TransformListener	tf_

Detailed Description

Definition at line 65 of file cartesian_wrench.h.

Constructor & Destructor Documentation

robot_controllers::CartesianWrenchController::CartesianWrenchController ( )

Definition at line 53 of file cartesian_wrench.cpp.

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

Definition at line 69 of file cartesian_wrench.h.

Member Function Documentation

void robot_controllers::CartesianWrenchController::command ( const geometry_msgs::Wrench::ConstPtr & goal )

Controller command.

Definition at line 186 of file cartesian_wrench.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 219 of file cartesian_wrench.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 207 of file cartesian_wrench.cpp.

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

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 112 of file cartesian_wrench.h.

int robot_controllers::CartesianWrenchController::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 58 of file cartesian_wrench.cpp.

bool robot_controllers::CartesianWrenchController::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.