#include <open_manipulator_p_controller.h>

Public Member Functions
double	getControlPeriod (void)

	OpenManipulatorController (std::string usb_port, std::string baud_rate)

void	process (double time)

void	publishCallback (const ros::TimerEvent &)

void	startTimerThread ()

	~OpenManipulatorController ()

Static Public Member Functions
static void *	timerThread (void *param)

Private Member Functions
bool	goalDrawingTrajectoryCallback (open_manipulator_msgs::SetDrawingTrajectory::Request &req, open_manipulator_msgs::SetDrawingTrajectory::Response &res)

bool	goalJointSpacePathCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)

bool	goalJointSpacePathFromPresentCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)

bool	goalJointSpacePathToKinematicsOrientationCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalJointSpacePathToKinematicsPoseCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalJointSpacePathToKinematicsPositionCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalTaskSpacePathCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalTaskSpacePathFromPresentCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalTaskSpacePathFromPresentOrientationOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalTaskSpacePathFromPresentPositionOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalTaskSpacePathOrientationOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalTaskSpacePathPositionOnlyCallback (open_manipulator_msgs::SetKinematicsPose::Request &req, open_manipulator_msgs::SetKinematicsPose::Response &res)

bool	goalToolControlCallback (open_manipulator_msgs::SetJointPosition::Request &req, open_manipulator_msgs::SetJointPosition::Response &res)

void	initPublisher ()

void	initServer ()

void	initSubscriber ()

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

void	publishGazeboCommand ()

void	publishJointStates ()

void	publishKinematicsPose ()

void	publishOpenManipulatorStates ()

bool	setActuatorStateCallback (open_manipulator_msgs::SetActuatorState::Request &req, open_manipulator_msgs::SetActuatorState::Response &res)

Private Attributes
pthread_attr_t	attr_

double	control_period_

std::vector< ros::Publisher >	gazebo_goal_joint_position_pub_

ros::ServiceServer	get_joint_position_server_

ros::ServiceServer	get_kinematics_pose_server_

ros::ServiceServer	goal_drawing_trajectory_server_

ros::ServiceServer	goal_joint_space_path_from_present_server_

ros::ServiceServer	goal_joint_space_path_server_

ros::ServiceServer	goal_joint_space_path_to_kinematics_orientation_server_

ros::ServiceServer	goal_joint_space_path_to_kinematics_pose_server_

ros::ServiceServer	goal_joint_space_path_to_kinematics_position_server_

ros::ServiceServer	goal_task_space_path_from_present_orientation_only_server_

ros::ServiceServer	goal_task_space_path_from_present_position_only_server_

ros::ServiceServer	goal_task_space_path_from_present_server_

ros::ServiceServer	goal_task_space_path_orientation_only_server_

ros::ServiceServer	goal_task_space_path_position_only_server_

ros::ServiceServer	goal_task_space_path_server_

ros::ServiceServer	goal_tool_control_server_

ros::NodeHandle	node_handle_

OpenManipulator	open_manipulator_

ros::Publisher	open_manipulator_joint_states_pub_

std::vector< ros::Publisher >	open_manipulator_kinematics_pose_pub_

ros::Subscriber	open_manipulator_option_sub_

ros::Publisher	open_manipulator_states_pub_

ros::NodeHandle	priv_node_handle_

ros::ServiceServer	set_actuator_state_server_

ros::ServiceServer	set_joint_position_server_

ros::ServiceServer	set_kinematics_pose_server_

pthread_t	timer_thread_

bool	timer_thread_state_

bool	using_platform_

bool	with_gripper_

Detailed Description

Definition at line 45 of file open_manipulator_p_controller.h.

Constructor & Destructor Documentation

OpenManipulatorController::OpenManipulatorController	(	std::string	usb_port,
		std::string	baud_rate
	)

Definition at line 23 of file open_manipulator_p_controller.cpp.

OpenManipulatorController::~OpenManipulatorController ( )

Definition at line 52 of file open_manipulator_p_controller.cpp.

Member Function Documentation

double open_manipulator_p_controller::OpenManipulatorController::getControlPeriod ( void )

inline

Definition at line 56 of file open_manipulator_p_controller.h.

bool OpenManipulatorController::goalDrawingTrajectoryCallback	(	open_manipulator_msgs::SetDrawingTrajectory::Request &	req,
		open_manipulator_msgs::SetDrawingTrajectory::Response &	res
	)

private

Definition at line 448 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

private

Definition at line 204 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathFromPresentCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

private

Definition at line 336 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathToKinematicsOrientationCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 259 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathToKinematicsPoseCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 220 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalJointSpacePathToKinematicsPositionCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 243 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 278 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathFromPresentCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 352 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathFromPresentOrientationOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 391 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathFromPresentPositionOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 375 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathOrientationOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 318 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalTaskSpacePathPositionOnlyCallback	(	open_manipulator_msgs::SetKinematicsPose::Request &	req,
		open_manipulator_msgs::SetKinematicsPose::Response &	res
	)

private

Definition at line 302 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::goalToolControlCallback	(	open_manipulator_msgs::SetJointPosition::Request &	req,
		open_manipulator_msgs::SetJointPosition::Response &	res
	)

private

Definition at line 409 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::initPublisher ( )

private

Definition at line 133 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::initServer ( )

private

Definition at line 170 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::initSubscriber ( )

private

Definition at line 164 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::openManipulatorOptionCallback ( const std_msgs::String::ConstPtr & msg )

private

Definition at line 195 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::process ( double time )

Definition at line 519 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::publishCallback ( const ros::TimerEvent & )

Definition at line 527 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::publishGazeboCommand ( )

private

Definition at line 606 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::publishJointStates ( )

private

Definition at line 575 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::publishKinematicsPose ( )

private

Definition at line 552 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::publishOpenManipulatorStates ( )

private

Definition at line 536 of file open_manipulator_p_controller.cpp.

bool OpenManipulatorController::setActuatorStateCallback	(	open_manipulator_msgs::SetActuatorState::Request &	req,
		open_manipulator_msgs::SetActuatorState::Response &	res
	)

private

Definition at line 423 of file open_manipulator_p_controller.cpp.

void OpenManipulatorController::startTimerThread ( )

Use this when you want to increase the priority of threads.

Definition at line 61 of file open_manipulator_p_controller.cpp.

void * OpenManipulatorController::timerThread ( void * param )

static

Definition at line 98 of file open_manipulator_p_controller.cpp.

Member Data Documentation

pthread_attr_t open_manipulator_p_controller::OpenManipulatorController::attr_

private

Definition at line 77 of file open_manipulator_p_controller.h.

double open_manipulator_p_controller::OpenManipulatorController::control_period_

private

Definition at line 69 of file open_manipulator_p_controller.h.

std::vector<ros::Publisher> open_manipulator_p_controller::OpenManipulatorController::gazebo_goal_joint_position_pub_

private

Definition at line 96 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::get_joint_position_server_

private

Definition at line 127 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::get_kinematics_pose_server_

private

Definition at line 128 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_drawing_trajectory_server_

private

Definition at line 126 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_joint_space_path_from_present_server_

private

Definition at line 120 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_joint_space_path_server_

private

Definition at line 113 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_joint_space_path_to_kinematics_orientation_server_

private

Definition at line 116 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_joint_space_path_to_kinematics_pose_server_

private

Definition at line 114 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_joint_space_path_to_kinematics_position_server_

private

Definition at line 115 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_task_space_path_from_present_orientation_only_server_

private

Definition at line 122 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_task_space_path_from_present_position_only_server_

private

Definition at line 121 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_task_space_path_from_present_server_

private

Definition at line 123 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_task_space_path_orientation_only_server_

private

Definition at line 119 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_task_space_path_position_only_server_

private

Definition at line 118 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_task_space_path_server_

private

Definition at line 117 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::goal_tool_control_server_

private

Definition at line 124 of file open_manipulator_p_controller.h.

ros::NodeHandle open_manipulator_p_controller::OpenManipulatorController::node_handle_

private

Definition at line 62 of file open_manipulator_p_controller.h.

OpenManipulator open_manipulator_p_controller::OpenManipulatorController::open_manipulator_

private

Definition at line 81 of file open_manipulator_p_controller.h.

ros::Publisher open_manipulator_p_controller::OpenManipulatorController::open_manipulator_joint_states_pub_

private

Definition at line 95 of file open_manipulator_p_controller.h.

std::vector<ros::Publisher> open_manipulator_p_controller::OpenManipulatorController::open_manipulator_kinematics_pose_pub_

private

Definition at line 94 of file open_manipulator_p_controller.h.

ros::Subscriber open_manipulator_p_controller::OpenManipulatorController::open_manipulator_option_sub_

private

Definition at line 106 of file open_manipulator_p_controller.h.

ros::Publisher open_manipulator_p_controller::OpenManipulatorController::open_manipulator_states_pub_

private

Definition at line 93 of file open_manipulator_p_controller.h.

ros::NodeHandle open_manipulator_p_controller::OpenManipulatorController::priv_node_handle_

private

Definition at line 63 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::set_actuator_state_server_

private

Definition at line 125 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::set_joint_position_server_

private

Definition at line 129 of file open_manipulator_p_controller.h.

ros::ServiceServer open_manipulator_p_controller::OpenManipulatorController::set_kinematics_pose_server_

private

Definition at line 130 of file open_manipulator_p_controller.h.

pthread_t open_manipulator_p_controller::OpenManipulatorController::timer_thread_

private

Definition at line 76 of file open_manipulator_p_controller.h.

bool open_manipulator_p_controller::OpenManipulatorController::timer_thread_state_

private

Definition at line 78 of file open_manipulator_p_controller.h.

bool open_manipulator_p_controller::OpenManipulatorController::using_platform_

private

Definition at line 68 of file open_manipulator_p_controller.h.

bool open_manipulator_p_controller::OpenManipulatorController::with_gripper_

private

Definition at line 70 of file open_manipulator_p_controller.h.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation