#include <head_control_module.h>

Inheritance diagram for robotis_op::HeadControlModule:

Public Member Functions
	HeadControlModule ()

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	~HeadControlModule ()

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

bool	getModuleEnable ()

std::string	getModuleName ()

void	setModuleEnable (bool enable)

virtual	~MotionModule ()

Private Types
enum	{ NoScan = 0, TopLeft = 1, BottomRight = 2, BottomLeft = 3, TopRight = 4 }

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	checkAngleLimit (const int joint_index, double &goal_position)

void	finishMoving ()

void	generateScanTra (const int head_direction)

void	jointTraGeneThread ()

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

void	queueThread ()

void	setHeadJoint (const sensor_msgs::JointState::ConstPtr &msg, bool is_offset)

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

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

void	setHeadScanCallback (const std_msgs::String::ConstPtr &msg)

void	startMoving ()

void	stopMoving ()

Private Attributes
double	angle_unit_

Eigen::MatrixXd	calc_joint_accel_tra_

Eigen::MatrixXd	calc_joint_tra_

Eigen::MatrixXd	calc_joint_vel_tra_

int	control_cycle_msec_

Eigen::MatrixXd	current_position_

const bool	DEBUG

Eigen::MatrixXd	goal_acceleration_

Eigen::MatrixXd	goal_position_

Eigen::MatrixXd	goal_velocity_

bool	has_goal_position_

bool	is_direct_control_

bool	is_moving_

std::string	last_msg_

ros::Time	last_msg_time_

std::map< int, double >	max_angle_

std::map< int, double >	min_angle_

double	moving_time_

boost::thread	queue_thread_

int	scan_state_

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_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< HeadControlModule >
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< HeadControlModule >
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 head_control_module.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
NoScan
TopLeft
BottomRight
BottomLeft
TopRight

Definition at line 56 of file head_control_module.h.

Constructor & Destructor Documentation

robotis_op::HeadControlModule::HeadControlModule ( )

Definition at line 25 of file head_control_module.cpp.

robotis_op::HeadControlModule::~HeadControlModule ( )

virtual

Definition at line 62 of file head_control_module.cpp.

Member Function Documentation

Eigen::MatrixXd robotis_op::HeadControlModule::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 485 of file head_control_module.cpp.

bool robotis_op::HeadControlModule::checkAngleLimit	(	const int	joint_index,
		double &	goal_position
	)

private

Definition at line 209 of file head_control_module.cpp.

void robotis_op::HeadControlModule::finishMoving ( )

private

Definition at line 351 of file head_control_module.cpp.

void robotis_op::HeadControlModule::generateScanTra ( const int head_direction )

private

Definition at line 414 of file head_control_module.cpp.

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

virtual

Implements robotis_framework::MotionModule.

Definition at line 67 of file head_control_module.cpp.

bool robotis_op::HeadControlModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 316 of file head_control_module.cpp.

void robotis_op::HeadControlModule::jointTraGeneThread ( )

private

Definition at line 532 of file head_control_module.cpp.

void robotis_op::HeadControlModule::onModuleDisable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 326 of file head_control_module.cpp.

void robotis_op::HeadControlModule::onModuleEnable ( )

virtual

Reimplemented from robotis_framework::MotionModule.

Definition at line 321 of file head_control_module.cpp.

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

virtual

Implements robotis_framework::MotionModule.

Definition at line 229 of file head_control_module.cpp.

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

private

Definition at line 582 of file head_control_module.cpp.

void robotis_op::HeadControlModule::queueThread ( )

private

Definition at line 85 of file head_control_module.cpp.

void robotis_op::HeadControlModule::setHeadJoint	(	const sensor_msgs::JointState::ConstPtr &	msg,
		bool	is_offset
	)

private

Definition at line 115 of file head_control_module.cpp.

void robotis_op::HeadControlModule::setHeadJointCallback ( const sensor_msgs::JointState::ConstPtr & msg )

private

Definition at line 105 of file head_control_module.cpp.

void robotis_op::HeadControlModule::setHeadJointOffsetCallback ( const sensor_msgs::JointState::ConstPtr & msg )

private

Definition at line 110 of file head_control_module.cpp.

void robotis_op::HeadControlModule::setHeadScanCallback ( const std_msgs::String::ConstPtr & msg )

private

Definition at line 184 of file head_control_module.cpp.

void robotis_op::HeadControlModule::startMoving ( )

private

Definition at line 344 of file head_control_module.cpp.

void robotis_op::HeadControlModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 304 of file head_control_module.cpp.

void robotis_op::HeadControlModule::stopMoving ( )

private

Definition at line 396 of file head_control_module.cpp.

Member Data Documentation

double robotis_op::HeadControlModule::angle_unit_

private

Definition at line 98 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::calc_joint_accel_tra_

private

Definition at line 107 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::calc_joint_tra_

private

Definition at line 105 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::calc_joint_vel_tra_

private

Definition at line 106 of file head_control_module.h.

int robotis_op::HeadControlModule::control_cycle_msec_

private

Definition at line 85 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::current_position_

private

Definition at line 101 of file head_control_module.h.

const bool robotis_op::HeadControlModule::DEBUG

private

Definition at line 90 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::goal_acceleration_

private

Definition at line 104 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::goal_position_

private

Definition at line 102 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::goal_velocity_

private

Definition at line 103 of file head_control_module.h.

bool robotis_op::HeadControlModule::has_goal_position_

private

Definition at line 97 of file head_control_module.h.

bool robotis_op::HeadControlModule::is_direct_control_

private

Definition at line 93 of file head_control_module.h.

bool robotis_op::HeadControlModule::is_moving_

private

Definition at line 92 of file head_control_module.h.

std::string robotis_op::HeadControlModule::last_msg_

private

Definition at line 114 of file head_control_module.h.

ros::Time robotis_op::HeadControlModule::last_msg_time_

private

Definition at line 113 of file head_control_module.h.

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

private

Definition at line 110 of file head_control_module.h.

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

private

Definition at line 111 of file head_control_module.h.

double robotis_op::HeadControlModule::moving_time_

private

Definition at line 95 of file head_control_module.h.

boost::thread robotis_op::HeadControlModule::queue_thread_

private

Definition at line 86 of file head_control_module.h.

int robotis_op::HeadControlModule::scan_state_

private

Definition at line 96 of file head_control_module.h.

ros::Publisher robotis_op::HeadControlModule::status_msg_pub_

private

Definition at line 89 of file head_control_module.h.

bool robotis_op::HeadControlModule::stop_process_

private

Definition at line 91 of file head_control_module.h.

Eigen::MatrixXd robotis_op::HeadControlModule::target_position_

private

Definition at line 100 of file head_control_module.h.

int robotis_op::HeadControlModule::tra_count_

private

Definition at line 94 of file head_control_module.h.

boost::thread* robotis_op::HeadControlModule::tra_gene_thread_

private

Definition at line 87 of file head_control_module.h.

boost::mutex robotis_op::HeadControlModule::tra_lock_

private

Definition at line 88 of file head_control_module.h.

int robotis_op::HeadControlModule::tra_size_

private

Definition at line 94 of file head_control_module.h.

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

private

Definition at line 109 of file head_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