CobLookAtAction Class Reference

#include <cob_lookat_action_server.h>

Public Member Functions
	CobLookAtAction (std::string action_name)
void	goalCB (const cob_lookat_action::LookAtGoalConstPtr &goal)
bool	init ()
	~CobLookAtAction (void)

Protected Attributes
ros::Duration	buffer_duration_
std::string	chain_base_link_
KDL::Chain	chain_main_
std::string	chain_tip_link_
actionlib::SimpleActionClient< control_msgs::FollowJointTrajectoryAction > *	fjt_ac_
std::string	fjt_name_
std::shared_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_pos_
std::shared_ptr< KDL::ChainFkSolverPos_recursive >	fk_solver_pos_main_
std::shared_ptr< KDL::ChainIkSolverPos_LMA >	ik_solver_pos_
std::vector< std::string >	joint_names_
actionlib::SimpleActionServer< cob_lookat_action::LookAtAction > *	lookat_as_
cob_lookat_action::LookAtFeedback	lookat_fb_
std::string	lookat_name_
cob_lookat_action::LookAtResult	lookat_res_
actionlib::SimpleActionClient< move_base_msgs::MoveBaseAction > *	mbl_ac_
std::string	mbl_name_
ros::NodeHandle	nh_
std::shared_ptr< tf2_ros::Buffer >	tf_buffer_
std::shared_ptr< tf2_ros::TransformListener >	tf_listener_

Detailed Description

Definition at line 45 of file cob_lookat_action_server.h.

Constructor & Destructor Documentation

CobLookAtAction::CobLookAtAction ( std::string  action_name )

inline

Definition at line 75 of file cob_lookat_action_server.h.

CobLookAtAction::~CobLookAtAction ( void  )

inline

Definition at line 81 of file cob_lookat_action_server.h.

Member Function Documentation

void CobLookAtAction::goalCB

(

const cob_lookat_action::LookAtGoalConstPtr &

goal

)

transform pointing_frame to offset

compose lookat_lin joint

fixed pointing offset

chain_lookat

chain_base

chain composition

set up solver

transform target_frame to p_in

solution valid?

check FK diff (target vs. q_out)

solution valid?

index correction

check FK based on (base +) main + offset

solution valid?

check lin_axis value positive

check lookat offset from lin_axis

compose FJT goal

compute time_from_start

disable FJT constraints

compose MBL goal

execute FJT (and MBL) goal

wait for FJT (and MBL) to finish

actions successful?

Definition at line 76 of file cob_lookat_action_server.cpp.

bool CobLookAtAction::init

(

)

get parameters from parameter server

parse robot_description and generate KDL chains

Definition at line 26 of file cob_lookat_action_server.cpp.

Member Data Documentation

ros::Duration CobLookAtAction::buffer_duration_

protected

Definition at line 71 of file cob_lookat_action_server.h.

std::string CobLookAtAction::chain_base_link_

protected

Definition at line 61 of file cob_lookat_action_server.h.

KDL::Chain CobLookAtAction::chain_main_

protected

Definition at line 64 of file cob_lookat_action_server.h.

std::string CobLookAtAction::chain_tip_link_

protected

Definition at line 62 of file cob_lookat_action_server.h.

actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction>* CobLookAtAction::fjt_ac_

protected

Definition at line 51 of file cob_lookat_action_server.h.

std::string CobLookAtAction::fjt_name_

protected

Definition at line 54 of file cob_lookat_action_server.h.

std::shared_ptr<KDL::ChainFkSolverPos_recursive> CobLookAtAction::fk_solver_pos_

protected

Definition at line 66 of file cob_lookat_action_server.h.

std::shared_ptr<KDL::ChainFkSolverPos_recursive> CobLookAtAction::fk_solver_pos_main_

protected

Definition at line 65 of file cob_lookat_action_server.h.

std::shared_ptr<KDL::ChainIkSolverPos_LMA> CobLookAtAction::ik_solver_pos_

protected

Definition at line 67 of file cob_lookat_action_server.h.

std::vector<std::string> CobLookAtAction::joint_names_

protected

Definition at line 60 of file cob_lookat_action_server.h.

actionlib::SimpleActionServer<cob_lookat_action::LookAtAction>* CobLookAtAction::lookat_as_

protected

Definition at line 53 of file cob_lookat_action_server.h.

cob_lookat_action::LookAtFeedback CobLookAtAction::lookat_fb_

protected

Definition at line 57 of file cob_lookat_action_server.h.

std::string CobLookAtAction::lookat_name_

protected

Definition at line 56 of file cob_lookat_action_server.h.

cob_lookat_action::LookAtResult CobLookAtAction::lookat_res_

protected

Definition at line 58 of file cob_lookat_action_server.h.

actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>* CobLookAtAction::mbl_ac_

protected

Definition at line 52 of file cob_lookat_action_server.h.

std::string CobLookAtAction::mbl_name_

protected

Definition at line 55 of file cob_lookat_action_server.h.

ros::NodeHandle CobLookAtAction::nh_

protected

Definition at line 49 of file cob_lookat_action_server.h.

std::shared_ptr<tf2_ros::Buffer> CobLookAtAction::tf_buffer_

protected

Definition at line 69 of file cob_lookat_action_server.h.

std::shared_ptr<tf2_ros::TransformListener> CobLookAtAction::tf_listener_

protected

Definition at line 70 of file cob_lookat_action_server.h.

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

• cob_lookat_action_server.h
• cob_lookat_action_server.cpp