JogAPI Class Reference

#include <jog_api.h>

Classes
struct	distanceAndTwist

Public Member Functions
bool	jacobianMove (geometry_msgs::PoseStamped &target_pose, const double trans_tolerance, const double rot_tolerance, const std::vector< double > &speed_scale, const ros::Duration &timeout)
	JogAPI (const std::string &move_group_name, const std::string &outgoing_jog_topic)
bool	maintainPose (std::string frame, const ros::Duration duration, const std::vector< double > &speed_scale)

Private Member Functions
distanceAndTwist	calculateDistanceAndTwist (const geometry_msgs::PoseStamped &current_pose, const geometry_msgs::PoseStamped &target_pose, const std::vector< double > &speed_scale)
bool	transformPose (geometry_msgs::PoseStamped &pose, std::string &desired_frame)

Private Attributes
ros::Publisher	jog_vel_pub_
moveit::planning_interface::MoveGroupInterface	move_group_
ros::NodeHandle	nh_
tf2_ros::TransformListener	tf2_listener_
tf2_ros::Buffer	tf_buffer_

Detailed Description

Definition at line 43 of file jog_api.h.

Constructor & Destructor Documentation

JogAPI::JogAPI ( const std::string &  move_group_name, const std::string &  outgoing_jog_topic  )

inline

Definition at line 47 of file jog_api.h.

Member Function Documentation

JogAPI::distanceAndTwist JogAPI::calculateDistanceAndTwist ( const geometry_msgs::PoseStamped &  current_pose, const geometry_msgs::PoseStamped &  target_pose, const std::vector< double > &  speed_scale  )

private

Definition at line 190 of file jog_api.cpp.

bool JogAPI::jacobianMove	(	geometry_msgs::PoseStamped &	target_pose,
		const double	trans_tolerance,
		const double	rot_tolerance,
		const std::vector< double > &	speed_scale,
		const ros::Duration &	timeout
	)

Definition at line 40 of file jog_api.cpp.

bool JogAPI::maintainPose	(	std::string	frame,
		const ros::Duration	duration,
		const std::vector< double > &	speed_scale
	)

Definition at line 93 of file jog_api.cpp.

bool JogAPI::transformPose ( geometry_msgs::PoseStamped &  pose, std::string &  desired_frame  )

private

Definition at line 158 of file jog_api.cpp.

Member Data Documentation

ros::Publisher JogAPI::jog_vel_pub_

private

Definition at line 67 of file jog_api.h.

moveit::planning_interface::MoveGroupInterface JogAPI::move_group_

private

Definition at line 65 of file jog_api.h.

ros::NodeHandle JogAPI::nh_

private

Definition at line 62 of file jog_api.h.

tf2_ros::TransformListener JogAPI::tf2_listener_

private

Definition at line 70 of file jog_api.h.

tf2_ros::Buffer JogAPI::tf_buffer_

private

Definition at line 69 of file jog_api.h.

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

• jog_api.h
• jog_api.cpp