Class providing a ControllerInterface publishing JointGroupPositionCommands. More...

Inheritance diagram for cob_twist_controller::ControllerInterfacePosition:

Public Member Functions
	ControllerInterfacePosition ()

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

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

	~ControllerInterfacePosition ()

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 ()

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 JointGroupPositionCommands.

Definition at line 54 of file controller_interface.h.

Constructor & Destructor Documentation

cob_twist_controller::ControllerInterfacePosition::ControllerInterfacePosition ( )

inline

Definition at line 57 of file controller_interface.h.

cob_twist_controller::ControllerInterfacePosition::~ControllerInterfacePosition ( )

inline

Definition at line 58 of file controller_interface.h.

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

virtual

Definition at line 52 of file controller_interface.cpp.

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

inlinevirtual

Method processing the result using integration method (Simpson) and publishing to the 'joint_group_position_controller/command' topic.

publish to interface

Definition at line 64 of file controller_interface.cpp.

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