Public Member Functions | Public Attributes | List of all members
genericArmCtrl Class Reference

#include <genericArmCtrl.h>

Public Member Functions

 genericArmCtrl (int DOF, double PTPvel=0.7, double PTPacc=0.2, double maxError=0.7)
std::vector< double > GetPTPacc () const
std::vector< double > GetPTPvel () const
bool moveThetas (std::vector< double > conf_goal, std::vector< double > conf_current)
 Will move the component to a goal configuration in Joint Space. More...
bool moveTrajectory (trajectory_msgs::JointTrajectory pfad, std::vector< double > conf_current)
void SetPTPacc (double acc)
void SetPTPvel (double vel)
bool step (std::vector< double > current_pos, std::vector< double > &desired_vel)
 ~genericArmCtrl ()

Public Attributes

bool isMoving
std::vector< double > last_q
std::vector< double > last_q1
std::vector< double > last_q2
std::vector< double > last_q3
std::vector< double > m_acc_js
double m_AllowedError
double m_CurrentError
int m_DOF
double m_ExtraTime
double m_P
double m_TargetError
std::vector< double > m_vel_js
double m_Vorsteuer
double overlap_time
TimeStamp startTime_
double TotalTime_

Detailed Description

Definition at line 33 of file genericArmCtrl.h.

Constructor & Destructor Documentation

genericArmCtrl::genericArmCtrl ( int  DOF,
double  PTPvel = 0.7,
double  PTPacc = 0.2,
double  maxError = 0.7 

Definition at line 58 of file genericArmCtrl.cpp.

genericArmCtrl::~genericArmCtrl ( )

Definition at line 83 of file genericArmCtrl.cpp.

Member Function Documentation

std::vector< double > genericArmCtrl::GetPTPacc ( ) const

Definition at line 96 of file genericArmCtrl.cpp.

std::vector< double > genericArmCtrl::GetPTPvel ( ) const

Definition at line 93 of file genericArmCtrl.cpp.

bool genericArmCtrl::moveThetas ( std::vector< double >  conf_goal,
std::vector< double >  conf_current 

Will move the component to a goal configuration in Joint Space.

Definition at line 125 of file genericArmCtrl.cpp.

bool genericArmCtrl::moveTrajectory ( trajectory_msgs::JointTrajectory  pfad,
std::vector< double >  conf_current 

Definition at line 154 of file genericArmCtrl.cpp.

void genericArmCtrl::SetPTPacc ( double  acc)

Definition at line 113 of file genericArmCtrl.cpp.

void genericArmCtrl::SetPTPvel ( double  vel)

Definition at line 106 of file genericArmCtrl.cpp.

bool genericArmCtrl::step ( std::vector< double >  current_pos,
std::vector< double > &  desired_vel 

Definition at line 221 of file genericArmCtrl.cpp.

Member Data Documentation

bool genericArmCtrl::isMoving

Definition at line 67 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q

Definition at line 62 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q1

Definition at line 63 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q2

Definition at line 64 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q3

Definition at line 65 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::m_acc_js

Definition at line 66 of file genericArmCtrl.h.

double genericArmCtrl::m_AllowedError

Definition at line 73 of file genericArmCtrl.h.

double genericArmCtrl::m_CurrentError

Definition at line 74 of file genericArmCtrl.h.

int genericArmCtrl::m_DOF

Definition at line 57 of file genericArmCtrl.h.

double genericArmCtrl::m_ExtraTime

Definition at line 76 of file genericArmCtrl.h.

double genericArmCtrl::m_P

Definition at line 71 of file genericArmCtrl.h.

RefVal_JS* genericArmCtrl::m_pRefVals

Definition at line 59 of file genericArmCtrl.h.

double genericArmCtrl::m_TargetError

Definition at line 75 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::m_vel_js

Definition at line 61 of file genericArmCtrl.h.

double genericArmCtrl::m_Vorsteuer

Definition at line 72 of file genericArmCtrl.h.

double genericArmCtrl::overlap_time

Definition at line 45 of file genericArmCtrl.h.

TimeStamp genericArmCtrl::startTime_

Definition at line 69 of file genericArmCtrl.h.

double genericArmCtrl::TotalTime_

Definition at line 70 of file genericArmCtrl.h.

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

Author(s): Alexander Bubeck
autogenerated on Thu Apr 8 2021 02:39:55