katana::KatanaGripperGraspController Class Reference

#include <katana_gripper_grasp_controller.h>

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

Private Member Functions
void	executeCB (const control_msgs::GripperCommandGoalConstPtr &goal)
bool	serviceCallback (control_msgs::QueryTrajectoryState::Request &request, control_msgs::QueryTrajectoryState::Response &response)

Private Attributes
actionlib::SimpleActionServer< control_msgs::GripperCommandAction > *	action_server_
	Action server for the grasp posture action. More...
double	goal_threshold_
	A difference in desired goal angle and actual goal angle above this value indicates that the goal was not reached. More...
boost::shared_ptr< AbstractKatana >	katana_
ros::ServiceServer	query_srv_
	Server for the posture query service. More...

Detailed Description

Definition at line 43 of file katana_gripper_grasp_controller.h.

Constructor & Destructor Documentation

katana::KatanaGripperGraspController::KatanaGripperGraspController

(

boost::shared_ptr< AbstractKatana >

katana

)

Definition at line 33 of file katana_gripper_grasp_controller.cpp.

katana::KatanaGripperGraspController::~KatanaGripperGraspController ( )

virtual

Definition at line 53 of file katana_gripper_grasp_controller.cpp.

Member Function Documentation

void katana::KatanaGripperGraspController::executeCB ( const control_msgs::GripperCommandGoalConstPtr &  goal )

private

Definition at line 58 of file katana_gripper_grasp_controller.cpp.

bool katana::KatanaGripperGraspController::serviceCallback ( control_msgs::QueryTrajectoryState::Request &  request, control_msgs::QueryTrajectoryState::Response &  response  )

private

Definition at line 91 of file katana_gripper_grasp_controller.cpp.

Member Data Documentation

actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* katana::KatanaGripperGraspController::action_server_

private

Action server for the grasp posture action.

Definition at line 51 of file katana_gripper_grasp_controller.h.

double katana::KatanaGripperGraspController::goal_threshold_

private

A difference in desired goal angle and actual goal angle above this value indicates that the goal was not reached.

Definition at line 59 of file katana_gripper_grasp_controller.h.

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

private

Definition at line 56 of file katana_gripper_grasp_controller.h.

ros::ServiceServer katana::KatanaGripperGraspController::query_srv_

private

Server for the posture query service.

Definition at line 54 of file katana_gripper_grasp_controller.h.

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

• katana_gripper_grasp_controller.h
• katana_gripper_grasp_controller.cpp