controller::LaserScannerTrajControllerNode Class Reference

#include <laser_scanner_traj_controller.h>

Inheritance diagram for controller::LaserScannerTrajControllerNode:

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	LaserScannerTrajControllerNode ()
void	setPeriodicCmd (const pr2_msgs::PeriodicCmdConstPtr &cmd)
bool	setPeriodicSrv (pr2_msgs::SetPeriodicCmd::Request &req, pr2_msgs::SetPeriodicCmd::Response &res)
void	setTrajCmd (const pr2_msgs::LaserTrajCmdConstPtr &traj_cmd)
bool	setTrajSrv (pr2_msgs::SetLaserTrajCmd::Request &req, pr2_msgs::SetLaserTrajCmd::Response &res)
void	update ()
	~LaserScannerTrajControllerNode ()
Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()
bool	getController (const std::string &name, int sched, ControllerType *&c)
bool	initRequest (ControllerProvider *cp, pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
bool	isRunning ()
void	starting (const ros::Time &time)
virtual void	starting ()
bool	startRequest ()
void	stopping (const ros::Time &time)
virtual void	stopping ()
bool	stopRequest ()
void	update (const ros::Time &time, const ros::Duration &period)
void	updateRequest ()
virtual	~Controller ()

Private Attributes
LaserScannerTrajController	c_
pr2_msgs::LaserScannerSignal	m_scanner_signal_
	Stores the message that we want to send at the end of each sweep, and halfway through each sweep. More...
bool	need_to_send_msg_
	Tracks whether we still need to send out the m_scanner_signal_ message. More...
ros::NodeHandle	node_
int	prev_profile_segment_
	The segment in the current profile when update() was last called. More...
realtime_tools::RealtimePublisher< pr2_msgs::LaserScannerSignal > *	publisher_
	Publishes the m_scanner_signal msg from the update() realtime loop. More...
pr2_mechanism_model::RobotState *	robot_
ros::ServiceServer	serve_set_periodic_cmd_
ros::ServiceServer	serve_set_Traj_cmd_
std::string	service_prefix_
ros::Subscriber	sub_set_periodic_cmd_
ros::Subscriber	sub_set_traj_cmd_
pr2_mechanism_controllers::TrackLinkCmd	track_link_cmd_

Additional Inherited Members
Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_
	AFTER_ME
std::vector< std::string >	before_list_
	BEFORE_ME
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum pr2_controller_interface::Controller:: { ... }	state_

Detailed Description

Definition at line 120 of file laser_scanner_traj_controller.h.

Constructor & Destructor Documentation

LaserScannerTrajControllerNode::LaserScannerTrajControllerNode

(

)

Definition at line 400 of file laser_scanner_traj_controller.cpp.

LaserScannerTrajControllerNode::~LaserScannerTrajControllerNode

(

)

Definition at line 407 of file laser_scanner_traj_controller.cpp.

Member Function Documentation

bool LaserScannerTrajControllerNode::init ( pr2_mechanism_model::RobotState *  robot, ros::NodeHandle &  n  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 448 of file laser_scanner_traj_controller.cpp.

void LaserScannerTrajControllerNode::setPeriodicCmd

(

const pr2_msgs::PeriodicCmdConstPtr &

cmd

)

Definition at line 501 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajControllerNode::setPeriodicSrv	(	pr2_msgs::SetPeriodicCmd::Request &	req,
		pr2_msgs::SetPeriodicCmd::Response &	res
	)

Definition at line 486 of file laser_scanner_traj_controller.cpp.

void LaserScannerTrajControllerNode::setTrajCmd

(

const pr2_msgs::LaserTrajCmdConstPtr &

traj_cmd

)

Definition at line 522 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajControllerNode::setTrajSrv	(	pr2_msgs::SetLaserTrajCmd::Request &	req,
		pr2_msgs::SetLaserTrajCmd::Response &	res
	)

Definition at line 507 of file laser_scanner_traj_controller.cpp.

void LaserScannerTrajControllerNode::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 417 of file laser_scanner_traj_controller.cpp.

Member Data Documentation

LaserScannerTrajController controller::LaserScannerTrajControllerNode::c_

private

Definition at line 147 of file laser_scanner_traj_controller.h.

pr2_msgs::LaserScannerSignal controller::LaserScannerTrajControllerNode::m_scanner_signal_

private

Stores the message that we want to send at the end of each sweep, and halfway through each sweep.

Definition at line 155 of file laser_scanner_traj_controller.h.

bool controller::LaserScannerTrajControllerNode::need_to_send_msg_

private

Tracks whether we still need to send out the m_scanner_signal_ message.

Definition at line 156 of file laser_scanner_traj_controller.h.

ros::NodeHandle controller::LaserScannerTrajControllerNode::node_

private

Definition at line 141 of file laser_scanner_traj_controller.h.

int controller::LaserScannerTrajControllerNode::prev_profile_segment_

private

The segment in the current profile when update() was last called.

Definition at line 151 of file laser_scanner_traj_controller.h.

realtime_tools::RealtimePublisher<pr2_msgs::LaserScannerSignal>* controller::LaserScannerTrajControllerNode::publisher_

private

Publishes the m_scanner_signal msg from the update() realtime loop.

Definition at line 157 of file laser_scanner_traj_controller.h.

pr2_mechanism_model::RobotState* controller::LaserScannerTrajControllerNode::robot_

private

Definition at line 148 of file laser_scanner_traj_controller.h.

ros::ServiceServer controller::LaserScannerTrajControllerNode::serve_set_periodic_cmd_

private

Definition at line 144 of file laser_scanner_traj_controller.h.

ros::ServiceServer controller::LaserScannerTrajControllerNode::serve_set_Traj_cmd_

private

Definition at line 145 of file laser_scanner_traj_controller.h.

std::string controller::LaserScannerTrajControllerNode::service_prefix_

private

Definition at line 149 of file laser_scanner_traj_controller.h.

ros::Subscriber controller::LaserScannerTrajControllerNode::sub_set_periodic_cmd_

private

Definition at line 142 of file laser_scanner_traj_controller.h.

ros::Subscriber controller::LaserScannerTrajControllerNode::sub_set_traj_cmd_

private

Definition at line 143 of file laser_scanner_traj_controller.h.

pr2_mechanism_controllers::TrackLinkCmd controller::LaserScannerTrajControllerNode::track_link_cmd_

private

Definition at line 153 of file laser_scanner_traj_controller.h.

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

• laser_scanner_traj_controller.h
• laser_scanner_traj_controller.cpp