cob_twist_controller::ControllerInterfaceJointStates Class Reference

Class providing a ControllerInterface publishing JointStates. More...

#include <controller_interface.h>

Inheritance diagram for cob_twist_controller::ControllerInterfaceJointStates:

Public Member Functions
	ControllerInterfaceJointStates ()
virtual void	initialize (ros::NodeHandle &nh, const TwistControllerParams &params)
virtual void	processResult (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfaceJointStates ()
Public Member Functions inherited from cob_twist_controller::ControllerInterfacePositionBase
bool	updateIntegration (const KDL::JntArray &q_dot_ik, const KDL::JntArray &current_q)
	~ControllerInterfacePositionBase ()
Public Member Functions inherited from cob_twist_controller::ControllerInterfaceBase
virtual	~ControllerInterfaceBase ()

Private Member Functions
void	publishJointState (const ros::TimerEvent &event)

Private Attributes
sensor_msgs::JointState	js_msg_
ros::Timer	js_timer_
boost::mutex	mutex_

Additional Inherited Members
Protected Member Functions inherited from cob_twist_controller::ControllerInterfacePositionBase
	ControllerInterfacePositionBase ()
Protected Member Functions inherited from cob_twist_controller::ControllerInterfaceBase
	ControllerInterfaceBase ()
Protected Attributes inherited from cob_twist_controller::ControllerInterfacePositionBase
boost::shared_ptr< SimpsonIntegrator >	integrator_
ros::Time	last_update_time_
ros::Duration	period_
std::vector< double >	pos_
std::vector< double >	vel_
Protected Attributes inherited from cob_twist_controller::ControllerInterfaceBase
ros::NodeHandle	nh_
TwistControllerParams	params_
ros::Publisher	pub_

Detailed Description

Class providing a ControllerInterface publishing JointStates.

Definition at line 85 of file controller_interface.h.

Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfaceJointStates::ControllerInterfaceJointStates ( )

inline

Definition at line 88 of file controller_interface.h.

cob_twist_controller::ControllerInterfaceJointStates::~ControllerInterfaceJointStates ( )

inline

Definition at line 89 of file controller_interface.h.

Member Function Documentation

void cob_twist_controller::ControllerInterfaceJointStates::initialize ( ros::NodeHandle &  nh, const TwistControllerParams &  params  )

virtual

Implements cob_twist_controller::ControllerInterfaceBase.

Definition at line 116 of file controller_interface.cpp.

void cob_twist_controller::ControllerInterfaceJointStates::processResult ( const KDL::JntArray &  q_dot_ik, const KDL::JntArray &  current_q  )

inlinevirtual

Method processing the result using integration method (Simpson) updating the internal JointState.

update JointState

publishing takes place in separate thread

Implements cob_twist_controller::ControllerInterfaceBase.

Definition at line 159 of file controller_interface.cpp.

void cob_twist_controller::ControllerInterfaceJointStates::publishJointState ( const ros::TimerEvent &  event )

private

Timer callback publishing the internal JointState to the 'joint_state' topic.

Definition at line 176 of file controller_interface.cpp.

Member Data Documentation

sensor_msgs::JointState cob_twist_controller::ControllerInterfaceJointStates::js_msg_

private

Definition at line 98 of file controller_interface.h.

ros::Timer cob_twist_controller::ControllerInterfaceJointStates::js_timer_

private

Definition at line 100 of file controller_interface.h.

boost::mutex cob_twist_controller::ControllerInterfaceJointStates::mutex_

private

Definition at line 97 of file controller_interface.h.

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

• controller_interface.h
• controller_interface.cpp