OpenManipulatorTeleop Class Reference

#include <open_manipulator_p_teleop_joystick.h>

Public Member Functions
	OpenManipulatorTeleop ()
	OpenManipulatorTeleop ()
void	printText ()
void	setGoal (char ch)
	~OpenManipulatorTeleop ()
	~OpenManipulatorTeleop ()

Private Member Functions
void	disableWaitingForEnter (void)
std::vector< double >	getPresentJointAngle ()
std::vector< double >	getPresentKinematicsPose ()
void	initClient ()
void	initClient ()
void	initSubscriber ()
void	initSubscriber ()
void	jointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	jointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	joyCallback (const sensor_msgs::Joy::ConstPtr &msg)
void	kinematicsPoseCallback (const open_manipulator_msgs::KinematicsPose::ConstPtr &msg)
void	kinematicsPoseCallback (const open_manipulator_msgs::KinematicsPose::ConstPtr &msg)
void	restoreTerminalSettings (void)
void	setGoal (const char *str)
bool	setJointSpacePath (std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
bool	setJointSpacePath (std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
bool	setJointSpacePathFromPresent (std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
bool	setTaskSpacePathFromPresentPositionOnly (std::vector< double > kinematics_pose, double path_time)
bool	setTaskSpacePathFromPresentPositionOnly (std::vector< double > kinematics_pose, double path_time)
bool	setToolControl (std::vector< double > joint_angle)
bool	setToolControl (std::vector< double > joint_angle)

Private Attributes
ros::ServiceClient	goal_joint_space_path_client_
ros::ServiceClient	goal_joint_space_path_from_present_client_
ros::ServiceClient	goal_task_space_path_from_present_position_only_client_
ros::ServiceClient	goal_tool_control_client_
ros::Subscriber	joint_states_sub_
ros::Subscriber	joy_command_sub_
ros::Subscriber	kinematics_pose_sub_
ros::NodeHandle	node_handle_
struct termios	oldt_
std::vector< double >	present_joint_angle_
std::vector< double >	present_kinematic_position_
ros::NodeHandle	priv_node_handle_
bool	with_gripper_

Detailed Description

Definition at line 37 of file open_manipulator_p_teleop_joystick.h.

Constructor & Destructor Documentation

OpenManipulatorTeleop::OpenManipulatorTeleop

(

)

Definition at line 21 of file open_manipulator_p_teleop_joystick.cpp.

OpenManipulatorTeleop::~OpenManipulatorTeleop

(

)

Definition at line 45 of file open_manipulator_p_teleop_joystick.cpp.

OpenManipulatorTeleop::OpenManipulatorTeleop

(

)

OpenManipulatorTeleop::~OpenManipulatorTeleop

(

)

Member Function Documentation

void OpenManipulatorTeleop::disableWaitingForEnter ( void  )

private

Definition at line 452 of file open_manipulator_p_teleop_keyboard.cpp.

std::vector< double > OpenManipulatorTeleop::getPresentJointAngle ( )

private

Definition at line 92 of file open_manipulator_p_teleop_keyboard.cpp.

std::vector< double > OpenManipulatorTeleop::getPresentKinematicsPose ( )

private

Definition at line 97 of file open_manipulator_p_teleop_keyboard.cpp.

void OpenManipulatorTeleop::initClient ( )

private

Definition at line 51 of file open_manipulator_p_teleop_joystick.cpp.

void OpenManipulatorTeleop::initClient ( )

private

void OpenManipulatorTeleop::initSubscriber ( )

private

Definition at line 58 of file open_manipulator_p_teleop_joystick.cpp.

void OpenManipulatorTeleop::initSubscriber ( )

private

void OpenManipulatorTeleop::jointStatesCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

private

Definition at line 65 of file open_manipulator_p_teleop_joystick.cpp.

void OpenManipulatorTeleop::jointStatesCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

private

void OpenManipulatorTeleop::joyCallback ( const sensor_msgs::Joy::ConstPtr &  msg )

private

Definition at line 90 of file open_manipulator_p_teleop_joystick.cpp.

void OpenManipulatorTeleop::kinematicsPoseCallback ( const open_manipulator_msgs::KinematicsPose::ConstPtr &  msg )

private

Definition at line 81 of file open_manipulator_p_teleop_joystick.cpp.

void OpenManipulatorTeleop::kinematicsPoseCallback ( const open_manipulator_msgs::KinematicsPose::ConstPtr &  msg )

private

void OpenManipulatorTeleop::printText

(

)

Definition at line 159 of file open_manipulator_p_teleop_keyboard.cpp.

void OpenManipulatorTeleop::restoreTerminalSettings ( void  )

private

Definition at line 447 of file open_manipulator_p_teleop_keyboard.cpp.

void OpenManipulatorTeleop::setGoal

(

char

ch

)

Definition at line 210 of file open_manipulator_p_teleop_keyboard.cpp.

void OpenManipulatorTeleop::setGoal ( const char *  str )

private

Definition at line 151 of file open_manipulator_p_teleop_joystick.cpp.

bool OpenManipulatorTeleop::setJointSpacePath ( std::vector< std::string >  joint_name, std::vector< double >  joint_angle, double  path_time  )

private

Definition at line 108 of file open_manipulator_p_teleop_joystick.cpp.

bool OpenManipulatorTeleop::setJointSpacePath ( std::vector< std::string >  joint_name, std::vector< double >  joint_angle, double  path_time  )

private

bool OpenManipulatorTeleop::setJointSpacePathFromPresent ( std::vector< std::string >  joint_name, std::vector< double >  joint_angle, double  path_time  )

private

Definition at line 102 of file open_manipulator_p_teleop_keyboard.cpp.

bool OpenManipulatorTeleop::setTaskSpacePathFromPresentPositionOnly ( std::vector< double >  kinematics_pose, double  path_time  )

private

Definition at line 135 of file open_manipulator_p_teleop_joystick.cpp.

bool OpenManipulatorTeleop::setTaskSpacePathFromPresentPositionOnly ( std::vector< double >  kinematics_pose, double  path_time  )

private

bool OpenManipulatorTeleop::setToolControl ( std::vector< double >  joint_angle )

private

Definition at line 122 of file open_manipulator_p_teleop_joystick.cpp.

bool OpenManipulatorTeleop::setToolControl ( std::vector< double >  joint_angle )

private

Member Data Documentation

ros::ServiceClient OpenManipulatorTeleop::goal_joint_space_path_client_

private

Definition at line 81 of file open_manipulator_p_teleop_joystick.h.

ros::ServiceClient OpenManipulatorTeleop::goal_joint_space_path_from_present_client_

private

Definition at line 83 of file open_manipulator_p_teleop_keyboard.h.

ros::ServiceClient OpenManipulatorTeleop::goal_task_space_path_from_present_position_only_client_

private

Definition at line 82 of file open_manipulator_p_teleop_joystick.h.

ros::ServiceClient OpenManipulatorTeleop::goal_tool_control_client_

private

Definition at line 83 of file open_manipulator_p_teleop_joystick.h.

ros::Subscriber OpenManipulatorTeleop::joint_states_sub_

private

Definition at line 70 of file open_manipulator_p_teleop_joystick.h.

ros::Subscriber OpenManipulatorTeleop::joy_command_sub_

private

Definition at line 72 of file open_manipulator_p_teleop_joystick.h.

ros::Subscriber OpenManipulatorTeleop::kinematics_pose_sub_

private

Definition at line 71 of file open_manipulator_p_teleop_joystick.h.

ros::NodeHandle OpenManipulatorTeleop::node_handle_

private

Definition at line 47 of file open_manipulator_p_teleop_joystick.h.

struct termios OpenManipulatorTeleop::oldt_

private

Definition at line 95 of file open_manipulator_p_teleop_keyboard.h.

std::vector< double > OpenManipulatorTeleop::present_joint_angle_

private

Definition at line 58 of file open_manipulator_p_teleop_joystick.h.

std::vector< double > OpenManipulatorTeleop::present_kinematic_position_

private

Definition at line 59 of file open_manipulator_p_teleop_joystick.h.

ros::NodeHandle OpenManipulatorTeleop::priv_node_handle_

private

Definition at line 48 of file open_manipulator_p_teleop_joystick.h.

bool OpenManipulatorTeleop::with_gripper_

private

Definition at line 53 of file open_manipulator_p_teleop_joystick.h.

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

• open_manipulator_p_teleop_joystick.h
• open_manipulator_p_teleop_keyboard.h
• open_manipulator_p_teleop_joystick.cpp
• open_manipulator_p_teleop_keyboard.cpp