naoqi::converter::JointStateConverter Class Reference

#include <joint_state.hpp>

Inheritance diagram for naoqi::converter::JointStateConverter:

Public Member Functions
void	callAll (const std::vector< message_actions::MessageAction > &actions)
	JointStateConverter (const std::string &name, const float &frequency, const BufferPtr &tf2_buffer, const qi::SessionPtr &session)
void	registerCallback (const message_actions::MessageAction action, Callback_t cb)
virtual void	reset ()
	~JointStateConverter ()
Public Member Functions inherited from naoqi::converter::BaseConverter< JointStateConverter >
	BaseConverter (const std::string &name, float frequency, qi::SessionPtr session)
float	frequency () const
std::string	name () const
virtual	~BaseConverter ()

Private Types
typedef boost::shared_ptr< tf2_ros::Buffer >	BufferPtr
typedef boost::function< void(sensor_msgs::JointState &, std::vector< geometry_msgs::TransformStamped > &) >	Callback_t
typedef std::map< std::string, urdf::JointMimicSharedPtr >	MimicMap

Private Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
void	setFixedTransforms (const std::string &tf_prefix, const ros::Time &time)
void	setTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)

Private Attributes
std::map< message_actions::MessageAction, Callback_t >	callbacks_
MimicMap	mimic_
sensor_msgs::JointState	msg_joint_states_
qi::AnyObject	p_memory_
qi::AnyObject	p_motion_
std::string	robot_desc_
std::map< std::string, robot_state_publisher::SegmentPair >	segments_
std::map< std::string, robot_state_publisher::SegmentPair >	segments_fixed_
BufferPtr	tf2_buffer_
std::vector< geometry_msgs::TransformStamped >	tf_transforms_

Additional Inherited Members
Protected Attributes inherited from naoqi::converter::BaseConverter< JointStateConverter >
float	frequency_
std::string	name_
bool	record_enabled_
const robot::Robot &	robot_
qi::SessionPtr	session_

Detailed Description

Definition at line 41 of file converters/joint_state.hpp.

Member Typedef Documentation

typedef boost::shared_ptr<tf2_ros::Buffer> naoqi::converter::JointStateConverter::BufferPtr

private

Definition at line 46 of file converters/joint_state.hpp.

typedef boost::function<void(sensor_msgs::JointState&, std::vector<geometry_msgs::TransformStamped>&) > naoqi::converter::JointStateConverter::Callback_t

private

Definition at line 44 of file converters/joint_state.hpp.

typedef std::map<std::string, urdf::JointMimicSharedPtr> naoqi::converter::JointStateConverter::MimicMap

private

Definition at line 48 of file converters/joint_state.hpp.

Constructor & Destructor Documentation

naoqi::converter::JointStateConverter::JointStateConverter	(	const std::string &	name,
		const float &	frequency,
		const BufferPtr &	tf2_buffer,
		const qi::SessionPtr &	session
	)

Definition at line 43 of file converters/joint_state.cpp.

naoqi::converter::JointStateConverter::~JointStateConverter

(

)

Definition at line 52 of file converters/joint_state.cpp.

Member Function Documentation

void naoqi::converter::JointStateConverter::addChildren ( const KDL::SegmentMap::const_iterator  segment )

private

blatently copied from robot state publisher

Definition at line 267 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::callAll

(

const std::vector< message_actions::MessageAction > &

actions

)

JOINT STATE PUBLISHER

ROBOT STATE PUBLISHER

ODOMETRY

Definition at line 87 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::registerCallback	(	const message_actions::MessageAction	action,
		Callback_t	cb
	)

Definition at line 82 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::reset ( )

virtual

Definition at line 57 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::setFixedTransforms ( const std::string &  tf_prefix, const ros::Time &  time  )

private

Definition at line 239 of file converters/joint_state.cpp.

void naoqi::converter::JointStateConverter::setTransforms ( const std::map< std::string, double > &  joint_positions, const ros::Time &  time, const std::string &  tf_prefix  )

private

Definition at line 207 of file converters/joint_state.cpp.

Member Data Documentation

std::map<message_actions::MessageAction, Callback_t> naoqi::converter::JointStateConverter::callbacks_

private

Registered Callbacks

Definition at line 77 of file converters/joint_state.hpp.

MimicMap naoqi::converter::JointStateConverter::mimic_

private

MimicJoint List

Definition at line 83 of file converters/joint_state.hpp.

sensor_msgs::JointState naoqi::converter::JointStateConverter::msg_joint_states_

private

JointState Message

Definition at line 86 of file converters/joint_state.hpp.

qi::AnyObject naoqi::converter::JointStateConverter::p_memory_

private

Definition at line 74 of file converters/joint_state.hpp.

qi::AnyObject naoqi::converter::JointStateConverter::p_motion_

private

Motion Proxy

Definition at line 73 of file converters/joint_state.hpp.

std::string naoqi::converter::JointStateConverter::robot_desc_

private

Robot Description in xml format

Definition at line 80 of file converters/joint_state.hpp.

std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_

private

Definition at line 65 of file converters/joint_state.hpp.

std::map<std::string, robot_state_publisher::SegmentPair> naoqi::converter::JointStateConverter::segments_fixed_

private

Definition at line 65 of file converters/joint_state.hpp.

BufferPtr naoqi::converter::JointStateConverter::tf2_buffer_

private

Global Shared tf2 buffer

Definition at line 70 of file converters/joint_state.hpp.

std::vector<geometry_msgs::TransformStamped> naoqi::converter::JointStateConverter::tf_transforms_

private

Transform Messages

Definition at line 89 of file converters/joint_state.hpp.

---

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

• converters/joint_state.hpp
• converters/joint_state.cpp