CobControlModeAdapter Class Reference

Public Member Functions
void	cmd_pos_cb (const std_msgs::Float64MultiArray::ConstPtr &msg)
void	cmd_vel_cb (const std_msgs::Float64MultiArray::ConstPtr &msg)
bool	initialize ()
bool	loadController (std::string load_controller)
bool	switchController (std::vector< std::string > start_controllers, std::vector< std::string > stop_controllers)
void	update (const ros::TimerEvent &event)

Private Types
enum	{ NONE, VELOCITY, POSITION, TRAJECTORY }

Private Attributes
ros::Subscriber	cmd_pos_sub_
ros::Subscriber	cmd_vel_sub_
enum CobControlModeAdapter:: { ... }	current_control_mode_
std::vector< std::string >	current_controller_names_
bool	has_pos_controller_
bool	has_traj_controller_
bool	has_vel_controller_
std::vector< std::string >	joint_names_
ros::Time	last_pos_command_
ros::Time	last_vel_command_
ros::ServiceClient	load_client_
double	max_command_silence_
boost::mutex	mutex_
ros::NodeHandle	nh_
std::vector< std::string >	pos_controller_names_
ros::ServiceClient	switch_client_
ros::Timer	timer_
std::vector< std::string >	traj_controller_names_
double	update_rate_
std::vector< std::string >	vel_controller_names_

Detailed Description

Definition at line 27 of file cob_control_mode_adapter_node.cpp.

Member Enumeration Documentation

anonymous enum

private

Enumerator
NONE
VELOCITY
POSITION
TRAJECTORY

Definition at line 325 of file cob_control_mode_adapter_node.cpp.

Member Function Documentation

void CobControlModeAdapter::cmd_pos_cb ( const std_msgs::Float64MultiArray::ConstPtr &  msg )

inline

Definition at line 232 of file cob_control_mode_adapter_node.cpp.

void CobControlModeAdapter::cmd_vel_cb ( const std_msgs::Float64MultiArray::ConstPtr &  msg )

inline

Definition at line 238 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::initialize ( )

inline

Definition at line 30 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::loadController ( std::string  load_controller )

inline

Definition at line 158 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::switchController ( std::vector< std::string >  start_controllers, std::vector< std::string >  stop_controllers  )

inline

Definition at line 183 of file cob_control_mode_adapter_node.cpp.

void CobControlModeAdapter::update ( const ros::TimerEvent &  event )

inline

Definition at line 244 of file cob_control_mode_adapter_node.cpp.

Member Data Documentation

ros::Subscriber CobControlModeAdapter::cmd_pos_sub_

private

Definition at line 339 of file cob_control_mode_adapter_node.cpp.

ros::Subscriber CobControlModeAdapter::cmd_vel_sub_

private

Definition at line 340 of file cob_control_mode_adapter_node.cpp.

enum { ... } CobControlModeAdapter::current_control_mode_

std::vector< std::string > CobControlModeAdapter::current_controller_names_

private

Definition at line 330 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::has_pos_controller_

private

Definition at line 336 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::has_traj_controller_

private

Definition at line 335 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::has_vel_controller_

private

Definition at line 337 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::joint_names_

private

Definition at line 323 of file cob_control_mode_adapter_node.cpp.

ros::Time CobControlModeAdapter::last_pos_command_

private

Definition at line 346 of file cob_control_mode_adapter_node.cpp.

ros::Time CobControlModeAdapter::last_vel_command_

private

Definition at line 347 of file cob_control_mode_adapter_node.cpp.

ros::ServiceClient CobControlModeAdapter::load_client_

private

Definition at line 342 of file cob_control_mode_adapter_node.cpp.

double CobControlModeAdapter::max_command_silence_

private

Definition at line 345 of file cob_control_mode_adapter_node.cpp.

boost::mutex CobControlModeAdapter::mutex_

private

Definition at line 348 of file cob_control_mode_adapter_node.cpp.

ros::NodeHandle CobControlModeAdapter::nh_

private

Definition at line 318 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::pos_controller_names_

private

Definition at line 332 of file cob_control_mode_adapter_node.cpp.

ros::ServiceClient CobControlModeAdapter::switch_client_

private

Definition at line 343 of file cob_control_mode_adapter_node.cpp.

ros::Timer CobControlModeAdapter::timer_

private

Definition at line 320 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::traj_controller_names_

private

Definition at line 331 of file cob_control_mode_adapter_node.cpp.

double CobControlModeAdapter::update_rate_

private

Definition at line 321 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::vel_controller_names_

private

Definition at line 333 of file cob_control_mode_adapter_node.cpp.

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

• cob_control_mode_adapter_node.cpp