#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 |
| RefVal_JS * | m_pRefVals |
| double | m_TargetError |
| std::vector< double > | m_vel_js |
| double | m_Vorsteuer |
| double | overlap_time |
| TimeStamp | startTime_ |
| double | TotalTime_ |
Definition at line 33 of file genericArmCtrl.h.
| 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.
| 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.
| 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.