#include <direct_control_module.h>

Inheritance diagram for robotis_op::DirectControlModule:

Public Member Functions
	DirectControlModule ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

bool	isRunning ()

void	onModuleDisable ()

void	onModuleEnable ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	stop ()

virtual	~DirectControlModule ()

Public Member Functions inherited from robotis_framework::MotionModule
ControlMode	getControlMode ()

bool	getModuleEnable ()

std::string	getModuleName ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Private Types
enum	TraIndex { Position = 0, Velocity = 1, Acceleration = 2, Count }

Private Member Functions
Eigen::MatrixXd	calcMinimumJerkTraPVA (double pos_start, double vel_start, double accel_start, double pos_end, double vel_end, double accel_end, double smp_time, double mov_time)

bool	checkSelfCollision ()

void	finishMoving ()

bool	getDiff (OP3KinematicsDynamics *kinematics, int end_index, int base_index, double &diff)

void	jointTraGeneThread ()

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

void	setJointCallback (const sensor_msgs::JointState::ConstPtr &msg)

void	startMoving ()

void	stopMoving ()

Private Attributes
const int	BASE_INDEX

Eigen::MatrixXd	calc_joint_accel_tra_

Eigen::MatrixXd	calc_joint_tra_

Eigen::MatrixXd	calc_joint_vel_tra_

bool	check_collision_

std::map< std::string, bool >	collision_

int	control_cycle_msec_

const bool	DEBUG

double	default_moving_angle_

double	default_moving_time_

Eigen::MatrixXd	goal_acceleration_

Eigen::MatrixXd	goal_position_

Eigen::MatrixXd	goal_velocity_

const int	HEAD_INDEX

bool	is_blocked_

bool	is_moving_

bool	is_updated_

double	l_min_diff_

std::string	last_msg_

ros::Time	last_msg_time_

const int	LEFT_ELBOW_INDEX

const int	LEFT_END_EFFECTOR_INDEX

std::map< int, double >	max_angle_

std::map< int, double >	min_angle_

double	moving_time_

OP3KinematicsDynamics *	op3_kinematics_

Eigen::MatrixXd	present_position_

boost::thread	queue_thread_

double	r_min_diff_

const int	RIGHT_ELBOW_INDEX

const int	RIGHT_END_EFFECTOR_INDEX

ros::Publisher	status_msg_pub_

bool	stop_process_

Eigen::MatrixXd	target_position_

int	tra_count_

boost::thread *	tra_gene_thread_

boost::mutex	tra_lock_

int	tra_size_

std::map< std::string, int >	using_joint_name_

bool	will_be_collision_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< DirectControlModule >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Protected Member Functions inherited from robotis_framework::Singleton< DirectControlModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 40 of file direct_control_module.h.

Member Enumeration Documentation

enum robotis_op::DirectControlModule::TraIndex

private

Enumerator
Position
Velocity
Acceleration
Count

Definition at line 56 of file direct_control_module.h.

Constructor & Destructor Documentation

robotis_op::DirectControlModule::DirectControlModule ( )

Definition at line 25 of file direct_control_module.cpp.

robotis_op::DirectControlModule::~DirectControlModule ( )

virtual

Definition at line 54 of file direct_control_module.cpp.

Member Function Documentation

Eigen::MatrixXd robotis_op::DirectControlModule::calcMinimumJerkTraPVA	(	double	pos_start,
		double	vel_start,
		double	accel_start,
		double	pos_end,
		double	vel_end,
		double	accel_end,
		double	smp_time,
		double	mov_time
	)

private

Definition at line 403 of file direct_control_module.cpp.

bool robotis_op::DirectControlModule::checkSelfCollision ( )

private

Definition at line 451 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::finishMoving ( )

private

Definition at line 360 of file direct_control_module.cpp.

bool robotis_op::DirectControlModule::getDiff	(	OP3KinematicsDynamics *	kinematics,
		int	end_index,
		int	base_index,
		double &	diff
	)

private

Definition at line 528 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 59 of file direct_control_module.cpp.

bool robotis_op::DirectControlModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 335 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::jointTraGeneThread ( )

private

Definition at line 547 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::onModuleDisable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 348 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::onModuleEnable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 340 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 228 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 597 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::queueThread ( )

private

Definition at line 101 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::setJointCallback ( const sensor_msgs::JointState::ConstPtr & msg )

private

Definition at line 117 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::startMoving ( )

private

Definition at line 353 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 323 of file direct_control_module.cpp.

void robotis_op::DirectControlModule::stopMoving ( )

private

Definition at line 375 of file direct_control_module.cpp.

Member Data Documentation

const int robotis_op::DirectControlModule::BASE_INDEX

private

Definition at line 64 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::calc_joint_accel_tra_

private

Definition at line 117 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::calc_joint_tra_

private

Definition at line 115 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::calc_joint_vel_tra_

private

Definition at line 116 of file direct_control_module.h.

bool robotis_op::DirectControlModule::check_collision_

private

Definition at line 93 of file direct_control_module.h.

std::map<std::string, bool> robotis_op::DirectControlModule::collision_

private

Definition at line 86 of file direct_control_module.h.

int robotis_op::DirectControlModule::control_cycle_msec_

private

Definition at line 95 of file direct_control_module.h.

const bool robotis_op::DirectControlModule::DEBUG

private

Definition at line 100 of file direct_control_module.h.

double robotis_op::DirectControlModule::default_moving_angle_

private

Definition at line 92 of file direct_control_module.h.

double robotis_op::DirectControlModule::default_moving_time_

private

Definition at line 91 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::goal_acceleration_

private

Definition at line 114 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::goal_position_

private

Definition at line 112 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::goal_velocity_

private

Definition at line 113 of file direct_control_module.h.

const int robotis_op::DirectControlModule::HEAD_INDEX

private

Definition at line 65 of file direct_control_module.h.

bool robotis_op::DirectControlModule::is_blocked_

private

Definition at line 104 of file direct_control_module.h.

bool robotis_op::DirectControlModule::is_moving_

private

Definition at line 102 of file direct_control_module.h.

bool robotis_op::DirectControlModule::is_updated_

private

Definition at line 103 of file direct_control_module.h.

double robotis_op::DirectControlModule::l_min_diff_

private

Definition at line 108 of file direct_control_module.h.

std::string robotis_op::DirectControlModule::last_msg_

private

Definition at line 124 of file direct_control_module.h.

ros::Time robotis_op::DirectControlModule::last_msg_time_

private

Definition at line 123 of file direct_control_module.h.

const int robotis_op::DirectControlModule::LEFT_ELBOW_INDEX

private

Definition at line 69 of file direct_control_module.h.

const int robotis_op::DirectControlModule::LEFT_END_EFFECTOR_INDEX

private

Definition at line 68 of file direct_control_module.h.

std::map<int, double> robotis_op::DirectControlModule::max_angle_

private

Definition at line 120 of file direct_control_module.h.

std::map<int, double> robotis_op::DirectControlModule::min_angle_

private

Definition at line 121 of file direct_control_module.h.

double robotis_op::DirectControlModule::moving_time_

private

Definition at line 107 of file direct_control_module.h.

OP3KinematicsDynamics* robotis_op::DirectControlModule::op3_kinematics_

private

Definition at line 126 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::present_position_

private

Definition at line 111 of file direct_control_module.h.

boost::thread robotis_op::DirectControlModule::queue_thread_

private

Definition at line 96 of file direct_control_module.h.

double robotis_op::DirectControlModule::r_min_diff_

private

Definition at line 108 of file direct_control_module.h.

const int robotis_op::DirectControlModule::RIGHT_ELBOW_INDEX

private

Definition at line 67 of file direct_control_module.h.

const int robotis_op::DirectControlModule::RIGHT_END_EFFECTOR_INDEX

private

Definition at line 66 of file direct_control_module.h.

ros::Publisher robotis_op::DirectControlModule::status_msg_pub_

private

Definition at line 99 of file direct_control_module.h.

bool robotis_op::DirectControlModule::stop_process_

private

Definition at line 101 of file direct_control_module.h.

Eigen::MatrixXd robotis_op::DirectControlModule::target_position_

private

Definition at line 110 of file direct_control_module.h.

int robotis_op::DirectControlModule::tra_count_

private

Definition at line 106 of file direct_control_module.h.

boost::thread* robotis_op::DirectControlModule::tra_gene_thread_

private

Definition at line 97 of file direct_control_module.h.

boost::mutex robotis_op::DirectControlModule::tra_lock_

private

Definition at line 98 of file direct_control_module.h.

int robotis_op::DirectControlModule::tra_size_

private

Definition at line 106 of file direct_control_module.h.

std::map<std::string, int> robotis_op::DirectControlModule::using_joint_name_

private

Definition at line 119 of file direct_control_module.h.

bool robotis_op::DirectControlModule::will_be_collision_

private

Definition at line 105 of file direct_control_module.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation