katana::JointMovementActionController Class Reference

#include <joint_movement_action_controller.h>

Public Member Functions
	JointMovementActionController (boost::shared_ptr< AbstractKatana > katana)
virtual	~JointMovementActionController ()

Private Types
typedef actionlib::SimpleActionClient< katana_msgs::JointMovementAction >	JMAC
typedef actionlib::SimpleActionServer< katana_msgs::JointMovementAction >	JMAS

Private Member Functions
sensor_msgs::JointState	adjustJointGoalPositionsToMotorLimits (const sensor_msgs::JointState &jointGoal)
void	executeCB (const JMAS::GoalConstPtr &goal)
bool	suitableJointGoal (const std::vector< std::string > &jointGoalNames)

Private Attributes
JMAS	action_server_
std::vector< std::string >	gripper_joints_
std::vector< std::string >	joints_
boost::shared_ptr< AbstractKatana >	katana_
sensor_msgs::JointState	movement_goal_

Detailed Description

Definition at line 44 of file joint_movement_action_controller.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<katana_msgs::JointMovementAction> katana::JointMovementActionController::JMAC

private

Definition at line 47 of file joint_movement_action_controller.h.

typedef actionlib::SimpleActionServer<katana_msgs::JointMovementAction> katana::JointMovementActionController::JMAS

private

Definition at line 46 of file joint_movement_action_controller.h.

Constructor & Destructor Documentation

katana::JointMovementActionController::JointMovementActionController

(

boost::shared_ptr< AbstractKatana >

katana

)

Definition at line 34 of file joint_movement_action_controller.cpp.

katana::JointMovementActionController::~JointMovementActionController ( )

virtual

Definition at line 43 of file joint_movement_action_controller.cpp.

Member Function Documentation

sensor_msgs::JointState katana::JointMovementActionController::adjustJointGoalPositionsToMotorLimits ( const sensor_msgs::JointState &  jointGoal )

private

Definition at line 77 of file joint_movement_action_controller.cpp.

void katana::JointMovementActionController::executeCB ( const JMAS::GoalConstPtr &  goal )

private

Definition at line 110 of file joint_movement_action_controller.cpp.

bool katana::JointMovementActionController::suitableJointGoal ( const std::vector< std::string > &  jointGoalNames )

private

Checks if all joints in the joint goal match a among joints of the katana

Definition at line 50 of file joint_movement_action_controller.cpp.

Member Data Documentation

JMAS katana::JointMovementActionController::action_server_

private

Definition at line 63 of file joint_movement_action_controller.h.

std::vector<std::string> katana::JointMovementActionController::gripper_joints_

private

Definition at line 56 of file joint_movement_action_controller.h.

std::vector<std::string> katana::JointMovementActionController::joints_

private

Definition at line 55 of file joint_movement_action_controller.h.

boost::shared_ptr<AbstractKatana> katana::JointMovementActionController::katana_

private

Definition at line 57 of file joint_movement_action_controller.h.

sensor_msgs::JointState katana::JointMovementActionController::movement_goal_

private

Definition at line 59 of file joint_movement_action_controller.h.

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

• joint_movement_action_controller.h
• joint_movement_action_controller.cpp