#include <fsrobo_r_joint_trajectory_streamer.h>

Inheritance diagram for fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer:

Public Member Functions
	FSRoboRJointTrajectoryStreamer (int min_buffer_size=1)
	Default constructor. More...

virtual bool	init (SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())
	Class initializer. More...

virtual void	jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)

bool	send_to_robot (const std::vector< JointTrajPtMessage > &messages)

void	streamingThread ()

virtual bool	trajectory_to_msgs (const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector< JointTrajPtMessage > *msgs)

	~FSRoboRJointTrajectoryStreamer ()

Public Member Functions inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface
virtual bool	init (std::string default_ip="", int default_port=StandardSocketPorts::MOTION)

virtual bool	init (SmplMsgConnection *connection)

virtual bool	init (SmplMsgConnection *connection, const std::vector< std::string > &joint_names, const std::map< std::string, double > &velocity_limits=std::map< std::string, double >())

	JointTrajectoryInterface ()

virtual void	run ()

virtual	~JointTrajectoryInterface ()

Protected Member Functions
bool	executeRobotProgramCB (fsrobo_r_msgs::ExecuteRobotProgram::Request &req, fsrobo_r_msgs::ExecuteRobotProgram::Response &res)

void	trajectoryStop ()

Protected Member Functions inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface
virtual bool	calc_duration (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_duration)

virtual bool	calc_speed (const trajectory_msgs::JointTrajectoryPoint &pt, double rbt_velocity, double rbt_duration)

virtual bool	calc_velocity (const trajectory_msgs::JointTrajectoryPoint &pt, double *rbt_velocity)

virtual bool	is_valid (const trajectory_msgs::JointTrajectory &traj)

virtual void	jointStateCB (const sensor_msgs::JointStateConstPtr &msg)

virtual bool	select (const std::vector< std::string > &ros_joint_names, const trajectory_msgs::JointTrajectoryPoint &ros_pt, const std::vector< std::string > &rbt_joint_names, trajectory_msgs::JointTrajectoryPoint *rbt_pt)

virtual bool	send_to_robot (const std::vector< JointTrajPtMessage > &messages)=0

virtual bool	stopMotionCB (industrial_msgs::StopMotion::Request &req, industrial_msgs::StopMotion::Response &res)

virtual bool	trajectory_to_msgs (const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector< JointTrajPtMessage > *msgs)

virtual bool	transform (const trajectory_msgs::JointTrajectoryPoint &pt_in, trajectory_msgs::JointTrajectoryPoint *pt_out)

Protected Attributes
int	current_point_

std::vector< JointTrajPtMessage >	current_traj_

int	min_buffer_size_

boost::mutex	mutex_

RobotProgramExecutor	robot_program_executor_

ros::ServiceServer	srv_execute_robot_program

TransferState	state_

ros::Time	streaming_start_

boost::thread *	streaming_thread_

Protected Attributes inherited from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface
std::vector< std::string >	all_joint_names_

SmplMsgConnection *	connection_

sensor_msgs::JointState	cur_joint_pos_

double	default_duration_

double	default_joint_pos_

TcpClient	default_tcp_connection_

double	default_vel_ratio_

std::map< std::string, double >	joint_vel_limits_

ros::NodeHandle	node_

ros::ServiceServer	srv_joint_trajectory_

ros::ServiceServer	srv_stop_motion_

ros::Subscriber	sub_cur_pos_

ros::Subscriber	sub_joint_trajectory_

Detailed Description

Definition at line 67 of file fsrobo_r_joint_trajectory_streamer.h.

Constructor & Destructor Documentation

fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::FSRoboRJointTrajectoryStreamer ( int min_buffer_size = 1 )

inline

Default constructor.

Parameters

min_buffer_size minimum number of points as required by robot implementation

Definition at line 78 of file fsrobo_r_joint_trajectory_streamer.h.

fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::~FSRoboRJointTrajectoryStreamer ( )

Definition at line 58 of file fsrobo_r_joint_trajectory_streamer.cpp.

Member Function Documentation

bool fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::executeRobotProgramCB	(	fsrobo_r_msgs::ExecuteRobotProgram::Request &	req,
		fsrobo_r_msgs::ExecuteRobotProgram::Response &	res
	)

protected

Definition at line 244 of file fsrobo_r_joint_trajectory_streamer.cpp.

bool fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::init	(	SmplMsgConnection *	connection,
		const std::vector< std::string > &	joint_names,
		const std::map< std::string, double > &	velocity_limits = `std::map<std::string, double>()`
	)

virtual

Class initializer.

Parameters

connection	simple message connection that will be used to send commands to robot (ALREADY INITIALIZED)
joint_names	list of expected joint-names. Count and order should match data sent to robot connection. Use blank-name to insert a placeholder joint position (typ. 0.0). Joints in the incoming JointTrajectory stream that are NOT listed here will be ignored.
velocity_limits	map of maximum velocities for each joint leave empty to lookup from URDF

Returns: true on success, false otherwise (an invalid message type)

Definition at line 36 of file fsrobo_r_joint_trajectory_streamer.cpp.

void fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::jointTrajectoryCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg )

virtual

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 63 of file fsrobo_r_joint_trajectory_streamer.cpp.

bool fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::send_to_robot ( const std::vector< JointTrajPtMessage > & messages )

Definition at line 117 of file fsrobo_r_joint_trajectory_streamer.cpp.

void fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::streamingThread ( )

Definition at line 150 of file fsrobo_r_joint_trajectory_streamer.cpp.

bool fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::trajectory_to_msgs	(	const trajectory_msgs::JointTrajectoryConstPtr &	traj,
		std::vector< JointTrajPtMessage > *	msgs
	)

virtual

Definition at line 133 of file fsrobo_r_joint_trajectory_streamer.cpp.

void fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::trajectoryStop ( )

protectedvirtual

Reimplemented from industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface.

Definition at line 235 of file fsrobo_r_joint_trajectory_streamer.cpp.

Member Data Documentation

int fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::current_point_

protected

Definition at line 110 of file fsrobo_r_joint_trajectory_streamer.h.

std::vector<JointTrajPtMessage> fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::current_traj_

protected

Definition at line 111 of file fsrobo_r_joint_trajectory_streamer.h.

int fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::min_buffer_size_

protected

Definition at line 114 of file fsrobo_r_joint_trajectory_streamer.h.

boost::mutex fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::mutex_

protected

Definition at line 109 of file fsrobo_r_joint_trajectory_streamer.h.

RobotProgramExecutor fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::robot_program_executor_

protected

Definition at line 117 of file fsrobo_r_joint_trajectory_streamer.h.

ros::ServiceServer fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::srv_execute_robot_program

protected

Definition at line 116 of file fsrobo_r_joint_trajectory_streamer.h.

TransferState fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::state_

protected

Definition at line 112 of file fsrobo_r_joint_trajectory_streamer.h.

ros::Time fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::streaming_start_

protected

Definition at line 113 of file fsrobo_r_joint_trajectory_streamer.h.

boost::thread* fsrobo_r_driver::joint_trajectory_streamer::FSRoboRJointTrajectoryStreamer::streaming_thread_

protected

Definition at line 108 of file fsrobo_r_joint_trajectory_streamer.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation