cob_trajectory_controller_node Class Reference

Public Member Functions
	cob_trajectory_controller_node ()
void	executeFollowTrajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
double	getFrequency ()
void	operationmode_callback (const std_msgs::StringPtr &message)
void	run ()
void	spawnTrajector (trajectory_msgs::JointTrajectory trajectory)
bool	srvCallback_setAcc (cob_srvs::SetFloat::Request &req, cob_srvs::SetFloat::Response &res)
bool	srvCallback_setVel (cob_srvs::SetFloat::Request &req, cob_srvs::SetFloat::Response &res)
bool	srvCallback_Stop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
void	state_callback (const control_msgs::JointTrajectoryControllerStatePtr &message)

Private Attributes
std::string	action_name_
actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	as_
ros::Subscriber	controller_state_
std::string	current_operation_mode_
int	DOF
bool	executing_
bool	failure_
std::vector< double >	joint_distance_
ros::Publisher	joint_vel_pub_
std::vector< std::string >	JointNames_
ros::NodeHandle	n_
ros::NodeHandle	n_private_
ros::Subscriber	operation_mode_
bool	preemted_
std::vector< double >	q_current
bool	rejected_
ros::ServiceClient	srvClient_SetOperationMode
ros::ServiceServer	srvServer_SetAcc_
ros::ServiceServer	srvServer_SetVel_
ros::ServiceServer	srvServer_Stop_
std::vector< double >	startposition_
trajectory_msgs::JointTrajectory	traj_
trajectory_msgs::JointTrajectory	traj_2_
genericArmCtrl *	traj_generator_
double	velocity_timeout_
int	watchdog_counter

Detailed Description

Definition at line 35 of file cob_trajectory_controller.cpp.

Constructor & Destructor Documentation

cob_trajectory_controller_node::cob_trajectory_controller_node ( )

inline

Definition at line 69 of file cob_trajectory_controller.cpp.

Member Function Documentation

void cob_trajectory_controller_node::executeFollowTrajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr &  goal )

inline

Definition at line 326 of file cob_trajectory_controller.cpp.

double cob_trajectory_controller_node::getFrequency ( )

inline

Definition at line 137 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::operationmode_callback ( const std_msgs::StringPtr &  message )

inline

Definition at line 181 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::run ( )

inline

Definition at line 344 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::spawnTrajector ( trajectory_msgs::JointTrajectory  trajectory )

inline

Definition at line 195 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_setAcc ( cob_srvs::SetFloat::Request &  req, cob_srvs::SetFloat::Response &  res  )

inline

Definition at line 173 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_setVel ( cob_srvs::SetFloat::Request &  req, cob_srvs::SetFloat::Response &  res  )

inline

Definition at line 165 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_Stop ( std_srvs::Trigger::Request &  req, std_srvs::Trigger::Response &  res  )

inline

Definition at line 153 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::state_callback ( const control_msgs::JointTrajectoryControllerStatePtr &  message )

inline

Definition at line 186 of file cob_trajectory_controller.cpp.

Member Data Documentation

std::string cob_trajectory_controller_node::action_name_

private

Definition at line 51 of file cob_trajectory_controller.cpp.

actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> cob_trajectory_controller_node::as_

private

Definition at line 49 of file cob_trajectory_controller.cpp.

ros::Subscriber cob_trajectory_controller_node::controller_state_

private

Definition at line 42 of file cob_trajectory_controller.cpp.

std::string cob_trajectory_controller_node::current_operation_mode_

private

Definition at line 52 of file cob_trajectory_controller.cpp.

int cob_trajectory_controller_node::DOF

private

Definition at line 58 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::executing_

private

Definition at line 54 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::failure_

private

Definition at line 55 of file cob_trajectory_controller.cpp.

std::vector<double> cob_trajectory_controller_node::joint_distance_

private

Definition at line 65 of file cob_trajectory_controller.cpp.

ros::Publisher cob_trajectory_controller_node::joint_vel_pub_

private

Definition at line 41 of file cob_trajectory_controller.cpp.

std::vector<std::string> cob_trajectory_controller_node::JointNames_

private

Definition at line 53 of file cob_trajectory_controller.cpp.

ros::NodeHandle cob_trajectory_controller_node::n_

private

Definition at line 38 of file cob_trajectory_controller.cpp.

ros::NodeHandle cob_trajectory_controller_node::n_private_

private

Definition at line 39 of file cob_trajectory_controller.cpp.

ros::Subscriber cob_trajectory_controller_node::operation_mode_

private

Definition at line 43 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::preemted_

private

Definition at line 57 of file cob_trajectory_controller.cpp.

std::vector<double> cob_trajectory_controller_node::q_current

private

Definition at line 65 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::rejected_

private

Definition at line 56 of file cob_trajectory_controller.cpp.

ros::ServiceClient cob_trajectory_controller_node::srvClient_SetOperationMode

private

Definition at line 47 of file cob_trajectory_controller.cpp.

ros::ServiceServer cob_trajectory_controller_node::srvServer_SetAcc_

private

Definition at line 46 of file cob_trajectory_controller.cpp.

ros::ServiceServer cob_trajectory_controller_node::srvServer_SetVel_

private

Definition at line 45 of file cob_trajectory_controller.cpp.

ros::ServiceServer cob_trajectory_controller_node::srvServer_Stop_

private

Definition at line 44 of file cob_trajectory_controller.cpp.

std::vector<double> cob_trajectory_controller_node::startposition_

private

Definition at line 65 of file cob_trajectory_controller.cpp.

trajectory_msgs::JointTrajectory cob_trajectory_controller_node::traj_

private

Definition at line 63 of file cob_trajectory_controller.cpp.

trajectory_msgs::JointTrajectory cob_trajectory_controller_node::traj_2_

private

Definition at line 64 of file cob_trajectory_controller.cpp.

genericArmCtrl* cob_trajectory_controller_node::traj_generator_

private

Definition at line 62 of file cob_trajectory_controller.cpp.

double cob_trajectory_controller_node::velocity_timeout_

private

Definition at line 59 of file cob_trajectory_controller.cpp.

int cob_trajectory_controller_node::watchdog_counter

private

Definition at line 61 of file cob_trajectory_controller.cpp.

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

• cob_trajectory_controller.cpp