DebugEvaluateJointStates Class Reference

Public Member Functions
int	init ()
void	jointstateCallback (const sensor_msgs::JointState::ConstPtr &msg)

Private Attributes
KDL::Chain	chain_
std::string	chain_base_link_
std::string	chain_tip_link_
ros::Subscriber	jointstate_sub_
ros::Publisher	manipulability_pub_
ros::NodeHandle	nh_
KDL::ChainFkSolverVel_recursive *	p_fksolver_vel_
KDL::ChainJntToJacSolver *	p_jnt2jac_
ros::Publisher	twist_current_pub_

Detailed Description

Definition at line 35 of file debug_evaluate_jointstates_node.cpp.

Member Function Documentation

int DebugEvaluateJointStates::init ( )

inline

parse robot_description and generate KDL chains

initialize ROS interfaces

Definition at line 50 of file debug_evaluate_jointstates_node.cpp.

void DebugEvaluateJointStates::jointstateCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

inline

compute current twist

compute manipulability

Definition at line 90 of file debug_evaluate_jointstates_node.cpp.

Member Data Documentation

KDL::Chain DebugEvaluateJointStates::chain_

private

Definition at line 45 of file debug_evaluate_jointstates_node.cpp.

std::string DebugEvaluateJointStates::chain_base_link_

private

Definition at line 42 of file debug_evaluate_jointstates_node.cpp.

std::string DebugEvaluateJointStates::chain_tip_link_

private

Definition at line 43 of file debug_evaluate_jointstates_node.cpp.

ros::Subscriber DebugEvaluateJointStates::jointstate_sub_

private

Definition at line 38 of file debug_evaluate_jointstates_node.cpp.

ros::Publisher DebugEvaluateJointStates::manipulability_pub_

private

Definition at line 39 of file debug_evaluate_jointstates_node.cpp.

ros::NodeHandle DebugEvaluateJointStates::nh_

private

Definition at line 37 of file debug_evaluate_jointstates_node.cpp.

KDL::ChainFkSolverVel_recursive* DebugEvaluateJointStates::p_fksolver_vel_

private

Definition at line 46 of file debug_evaluate_jointstates_node.cpp.

KDL::ChainJntToJacSolver* DebugEvaluateJointStates::p_jnt2jac_

private

Definition at line 47 of file debug_evaluate_jointstates_node.cpp.

ros::Publisher DebugEvaluateJointStates::twist_current_pub_

private

Definition at line 40 of file debug_evaluate_jointstates_node.cpp.

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

• debug_evaluate_jointstates_node.cpp