#include <jog_arm_server.h>

Public Member Functions
	JogCalcs (const jog_arm_parameters &parameters, jog_arm_shared &shared_variables, const std::unique_ptr< robot_model_loader::RobotModelLoader > &model_loader_ptr)

Protected Member Functions
bool	addJointIncrements (sensor_msgs::JointState &output, const Eigen::VectorXd &increments) const

bool	applyVelocityScaling (jog_arm_shared &shared_variables, trajectory_msgs::JointTrajectory &new_jt_traj, const Eigen::VectorXd &delta_theta, double singularity_scale)

bool	cartesianJogCalcs (const geometry_msgs::TwistStamped &cmd, jog_arm_shared &shared_variables)

bool	checkIfJointsWithinBounds (trajectory_msgs::JointTrajectory_< std::allocator< void >> &new_jt_traj)

trajectory_msgs::JointTrajectory	composeOutgoingMessage (sensor_msgs::JointState &joint_state, const ros::Time &stamp) const

double	decelerateForSingularity (Eigen::MatrixXd jacobian, const Eigen::VectorXd commanded_velocity)

void	enforceJointVelocityLimits (Eigen::VectorXd &calculated_joint_vel)

void	halt (trajectory_msgs::JointTrajectory &jt_traj)

void	insertRedundantPointsIntoTrajectory (trajectory_msgs::JointTrajectory &trajectory, int count) const

bool	jointJogCalcs (const jog_msgs::JogJoint &cmd, jog_arm_shared &shared_variables)

void	lowPassFilterPositions ()

void	lowPassFilterVelocities (const Eigen::VectorXd &joint_vel)

Eigen::MatrixXd	pseudoInverse (const Eigen::MatrixXd &J) const

Eigen::MatrixXd	pseudoInverse (const Eigen::MatrixXd &u_matrix, const Eigen::MatrixXd &v_matrix, const Eigen::MatrixXd &s_diagonals) const

void	publishWarning (bool active) const

void	resetVelocityFilters ()

Eigen::VectorXd	scaleCartesianCommand (const geometry_msgs::TwistStamped &command) const

Eigen::VectorXd	scaleJointCommand (const jog_msgs::JogJoint &command) const

bool	updateJoints ()

Protected Attributes
sensor_msgs::JointState	incoming_jts_

const robot_state::JointModelGroup *	joint_model_group_

sensor_msgs::JointState	jt_state_

robot_state::RobotStatePtr	kinematic_state_

tf::TransformListener	listener_

moveit::planning_interface::MoveGroupInterface	move_group_

trajectory_msgs::JointTrajectory	new_traj_

ros::NodeHandle	nh_

sensor_msgs::JointState	original_jts_

jog_arm_parameters	parameters_

std::vector< jog_arm::LowPassFilter >	position_filters_

std::vector< jog_arm::LowPassFilter >	velocity_filters_

ros::Publisher	warning_pub_

Detailed Description

Class JogCalcs - Perform the Jacobian calculations.

Definition at line 198 of file jog_arm_server.h.

Constructor & Destructor Documentation

jog_arm::JogCalcs::JogCalcs	(	const jog_arm_parameters &	parameters,
		jog_arm_shared &	shared_variables,
		const std::unique_ptr< robot_model_loader::RobotModelLoader > &	model_loader_ptr
	)

Definition at line 302 of file jog_arm_server.cpp.

Member Function Documentation

bool jog_arm::JogCalcs::addJointIncrements	(	sensor_msgs::JointState &	output,
		const Eigen::VectorXd &	increments
	)		const

protected

Definition at line 1023 of file jog_arm_server.cpp.

bool jog_arm::JogCalcs::applyVelocityScaling	(	jog_arm_shared &	shared_variables,
		trajectory_msgs::JointTrajectory &	new_jt_traj,
		const Eigen::VectorXd &	delta_theta,
		double	singularity_scale
	)

protected

Definition at line 713 of file jog_arm_server.cpp.

bool jog_arm::JogCalcs::cartesianJogCalcs	(	const geometry_msgs::TwistStamped &	cmd,
		jog_arm_shared &	shared_variables
	)

protected

Definition at line 470 of file jog_arm_server.cpp.

bool jog_arm::JogCalcs::checkIfJointsWithinBounds ( trajectory_msgs::JointTrajectory_< std::allocator< void >> & new_jt_traj )

protected

Definition at line 827 of file jog_arm_server.cpp.

trajectory_msgs::JointTrajectory jog_arm::JogCalcs::composeOutgoingMessage	(	sensor_msgs::JointState &	joint_state,
		const ros::Time &	stamp
	)		const

protected

Definition at line 682 of file jog_arm_server.cpp.

double jog_arm::JogCalcs::decelerateForSingularity	(	Eigen::MatrixXd	jacobian,
		const Eigen::VectorXd	commanded_velocity
	)

protected

Definition at line 748 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::enforceJointVelocityLimits ( Eigen::VectorXd & calculated_joint_vel )

protected

Definition at line 736 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::halt ( trajectory_msgs::JointTrajectory & jt_traj )

protected

Definition at line 894 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::insertRedundantPointsIntoTrajectory	(	trajectory_msgs::JointTrajectory &	trajectory,
		int	count
	)		const

protected

Definition at line 639 of file jog_arm_server.cpp.

bool jog_arm::JogCalcs::jointJogCalcs	(	const jog_msgs::JogJoint &	cmd,
		jog_arm_shared &	shared_variables
	)

protected

Definition at line 580 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::lowPassFilterPositions ( )

protected

Definition at line 651 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::lowPassFilterVelocities ( const Eigen::VectorXd & joint_vel )

protected

Definition at line 666 of file jog_arm_server.cpp.

Eigen::MatrixXd jog_arm::JogCalcs::pseudoInverse ( const Eigen::MatrixXd & J ) const

protected

Definition at line 1012 of file jog_arm_server.cpp.

Eigen::MatrixXd jog_arm::JogCalcs::pseudoInverse	(	const Eigen::MatrixXd &	u_matrix,
		const Eigen::MatrixXd &	v_matrix,
		const Eigen::MatrixXd &	s_diagonals
	)		const

protected

Definition at line 1017 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::publishWarning ( bool active ) const

protected

Definition at line 885 of file jog_arm_server.cpp.

void jog_arm::JogCalcs::resetVelocityFilters ( )

protected

Definition at line 911 of file jog_arm_server.cpp.

Eigen::VectorXd jog_arm::JogCalcs::scaleCartesianCommand ( const geometry_msgs::TwistStamped & command ) const

protected

Definition at line 948 of file jog_arm_server.cpp.

Eigen::VectorXd jog_arm::JogCalcs::scaleJointCommand ( const jog_msgs::JogJoint & command ) const

protected

Definition at line 978 of file jog_arm_server.cpp.

bool jog_arm::JogCalcs::updateJoints ( )

protected

Definition at line 918 of file jog_arm_server.cpp.

Member Data Documentation

sensor_msgs::JointState jog_arm::JogCalcs::incoming_jts_

protected

Definition at line 209 of file jog_arm_server.h.

const robot_state::JointModelGroup* jog_arm::JogCalcs::joint_model_group_

protected

Definition at line 259 of file jog_arm_server.h.

sensor_msgs::JointState jog_arm::JogCalcs::jt_state_

protected

Definition at line 263 of file jog_arm_server.h.

robot_state::RobotStatePtr jog_arm::JogCalcs::kinematic_state_

protected

Definition at line 261 of file jog_arm_server.h.

tf::TransformListener jog_arm::JogCalcs::listener_

protected

Definition at line 266 of file jog_arm_server.h.

moveit::planning_interface::MoveGroupInterface jog_arm::JogCalcs::move_group_

protected

Definition at line 207 of file jog_arm_server.h.

trajectory_msgs::JointTrajectory jog_arm::JogCalcs::new_traj_

protected

Definition at line 264 of file jog_arm_server.h.

ros::NodeHandle jog_arm::JogCalcs::nh_

protected

Definition at line 205 of file jog_arm_server.h.

sensor_msgs::JointState jog_arm::JogCalcs::original_jts_

protected

Definition at line 263 of file jog_arm_server.h.

jog_arm_parameters jog_arm::JogCalcs::parameters_

protected

Definition at line 273 of file jog_arm_server.h.

std::vector<jog_arm::LowPassFilter> jog_arm::JogCalcs::position_filters_

protected

Definition at line 269 of file jog_arm_server.h.

std::vector<jog_arm::LowPassFilter> jog_arm::JogCalcs::velocity_filters_

protected

Definition at line 268 of file jog_arm_server.h.

ros::Publisher jog_arm::JogCalcs::warning_pub_

protected

Definition at line 271 of file jog_arm_server.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