#include <arm_controller.h>

Public Member Functions
	ArmController ()

void	process (void)

virtual	~ArmController ()

Private Member Functions
bool	calcPlannedPath (open_manipulator_msgs::JointPosition msg)

bool	calcPlannedPath (open_manipulator_msgs::KinematicsPose msg)

void	displayPlannedPathMsgCallback (const moveit_msgs::DisplayTrajectory::ConstPtr &msg)

bool	getJointPositionMsgCallback (open_manipulator_msgs::GetJointPosition::Request &req, open_manipulator_msgs::GetJointPosition::Response &res)

bool	getKinematicsPoseMsgCallback (open_manipulator_msgs::GetKinematicsPose::Request &req, open_manipulator_msgs::GetKinematicsPose::Response &res)

void	initJointPosition ()

void	initPublisher (bool using_gazebo)

void	initServer ()

void	initSubscriber (bool using_gazebo)

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

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

Detailed Description

Definition at line 64 of file arm_controller.h.

Constructor & Destructor Documentation

ArmController::ArmController ( )

Definition at line 23 of file arm_controller.cpp.

ArmController::~ArmController ( )

virtual

Definition at line 52 of file arm_controller.cpp.

Member Function Documentation

bool ArmController::calcPlannedPath ( open_manipulator_msgs::JointPosition msg )

private

Definition at line 216 of file arm_controller.cpp.

bool ArmController::calcPlannedPath ( open_manipulator_msgs::KinematicsPose msg )

private

Definition at line 174 of file arm_controller.cpp.

void ArmController::displayPlannedPathMsgCallback ( const moveit_msgs::DisplayTrajectory::ConstPtr & msg )

private

Definition at line 270 of file arm_controller.cpp.

bool ArmController::getJointPositionMsgCallback	(	open_manipulator_msgs::GetJointPosition::Request &	req,
		open_manipulator_msgs::GetJointPosition::Response &	res
	)

private

Definition at line 122 of file arm_controller.cpp.

bool ArmController::getKinematicsPoseMsgCallback	(	open_manipulator_msgs::GetKinematicsPose::Request &	req,
		open_manipulator_msgs::GetKinematicsPose::Response &	res
	)

private

Definition at line 142 of file arm_controller.cpp.

void ArmController::initJointPosition ( )

private

Definition at line 58 of file arm_controller.cpp.

void ArmController::initPublisher ( bool using_gazebo )

private

Definition at line 78 of file arm_controller.cpp.

void ArmController::initServer ( )

private

Definition at line 114 of file arm_controller.cpp.

void ArmController::initSubscriber ( bool using_gazebo )

private

Definition at line 108 of file arm_controller.cpp.

void ArmController::process ( void )

Definition at line 301 of file arm_controller.cpp.

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

private

Definition at line 160 of file arm_controller.cpp.

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

private

Definition at line 167 of file arm_controller.cpp.

Member Data Documentation

uint16_t open_manipulator::ArmController::all_time_steps_

private

Definition at line 99 of file arm_controller.h.

ros::Publisher open_manipulator::ArmController::arm_state_pub_

private

Definition at line 80 of file arm_controller.h.

ros::Subscriber open_manipulator::ArmController::display_planned_path_sub_

private

Definition at line 83 of file arm_controller.h.

ros::Publisher open_manipulator::ArmController::gazebo_goal_joint_position_pub_[10]

private

Definition at line 78 of file arm_controller.h.

ros::ServiceServer open_manipulator::ArmController::get_joint_position_server_

private

Definition at line 86 of file arm_controller.h.

ros::ServiceServer open_manipulator::ArmController::get_kinematics_pose_server_

private

Definition at line 87 of file arm_controller.h.

ros::Publisher open_manipulator::ArmController::goal_joint_position_pub_

private

Definition at line 79 of file arm_controller.h.

bool open_manipulator::ArmController::init_position_

private

Definition at line 75 of file arm_controller.h.

bool open_manipulator::ArmController::is_moving_

private

Definition at line 98 of file arm_controller.h.

int open_manipulator::ArmController::joint_num_

private

Definition at line 74 of file arm_controller.h.

moveit::planning_interface::MoveGroupInterface* open_manipulator::ArmController::move_group

private

Definition at line 94 of file arm_controller.h.

ros::NodeHandle open_manipulator::ArmController::nh_

private

Definition at line 68 of file arm_controller.h.

PlannedPathInfo open_manipulator::ArmController::planned_path_info_

private

Definition at line 95 of file arm_controller.h.

ros::NodeHandle open_manipulator::ArmController::priv_nh_

private

Definition at line 69 of file arm_controller.h.

std::string open_manipulator::ArmController::robot_name_

private

Definition at line 73 of file arm_controller.h.

ros::ServiceServer open_manipulator::ArmController::set_joint_position_server_

private

Definition at line 88 of file arm_controller.h.

ros::ServiceServer open_manipulator::ArmController::set_kinematics_pose_server_

private

Definition at line 89 of file arm_controller.h.

bool open_manipulator::ArmController::using_gazebo_

private

Definition at line 72 of file arm_controller.h.

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

Private Attributes
uint16_t	all_time_steps_

ros::Publisher	arm_state_pub_

ros::Subscriber	display_planned_path_sub_

ros::Publisher	gazebo_goal_joint_position_pub_ [10]

ros::ServiceServer	get_joint_position_server_

ros::ServiceServer	get_kinematics_pose_server_

ros::Publisher	goal_joint_position_pub_

bool	init_position_

bool	is_moving_

int	joint_num_

moveit::planning_interface::MoveGroupInterface *	move_group

ros::NodeHandle	nh_

PlannedPathInfo	planned_path_info_

ros::NodeHandle	priv_nh_

std::string	robot_name_

ros::ServiceServer	set_joint_position_server_

ros::ServiceServer	set_kinematics_pose_server_

bool	using_gazebo_

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation