robot_calibration::ChainManager Class Reference

Manages moving joints to a new pose, determining when they are settled, and returning current joint_states. More...

#include <chain_manager.h>

Classes
struct	ChainController

Public Member Functions
	ChainManager (ros::NodeHandle &nh, double wait_time=15.0)
	Constructor, sets up chains from ros parameters. More...
std::vector< std::string >	getChainJointNames (const std::string &chain_name)
	Get the joint names associated with a chain. Mainly for testing. More...
std::vector< std::string >	getChains ()
	Get the names of chains. Mainly for testing. More...
std::string	getPlanningGroupName (const std::string &chain_name)
bool	getState (sensor_msgs::JointState *state)
	Get the current JointState message. More...
bool	moveToState (const sensor_msgs::JointState &state)
	Send commands to all managed joints. The ChainManager automatically figures out which controller to send these to. More...
bool	waitToSettle ()
	Wait for joints to settle. More...

Private Types
typedef actionlib::SimpleActionClient< moveit_msgs::MoveGroupAction >	MoveGroupClient
typedef boost::shared_ptr< MoveGroupClient >	MoveGroupClientPtr
typedef boost::shared_ptr< const moveit_msgs::MoveGroupResult >	MoveGroupResultPtr
typedef actionlib::SimpleActionClient< control_msgs::FollowJointTrajectoryAction >	TrajectoryClient

Private Member Functions
trajectory_msgs::JointTrajectoryPoint	makePoint (const sensor_msgs::JointState &state, const std::vector< std::string > &joints)
void	stateCallback (const sensor_msgs::JointStateConstPtr &msg)

Private Attributes
std::vector< boost::shared_ptr< ChainController > >	controllers_
double	duration_
MoveGroupClientPtr	move_group_
sensor_msgs::JointState	state_
bool	state_is_valid_
boost::mutex	state_mutex_
ros::Subscriber	subscriber_
double	velocity_factor_

Detailed Description

Manages moving joints to a new pose, determining when they are settled, and returning current joint_states.

Definition at line 37 of file chain_manager.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<moveit_msgs::MoveGroupAction> robot_calibration::ChainManager::MoveGroupClient

private

Definition at line 40 of file chain_manager.h.

typedef boost::shared_ptr<MoveGroupClient> robot_calibration::ChainManager::MoveGroupClientPtr

private

Definition at line 41 of file chain_manager.h.

typedef boost::shared_ptr<const moveit_msgs::MoveGroupResult> robot_calibration::ChainManager::MoveGroupResultPtr

private

Definition at line 42 of file chain_manager.h.

typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> robot_calibration::ChainManager::TrajectoryClient

private

Definition at line 39 of file chain_manager.h.

Constructor & Destructor Documentation

robot_calibration::ChainManager::ChainManager	(	ros::NodeHandle &	nh,
		double	wait_time = 15.0
	)

Constructor, sets up chains from ros parameters.

Parameters

nh	The node handle, sets namespace for parameters.
wait_time	The time to wait for each action to come up.

Definition at line 25 of file chain_manager.cpp.

Member Function Documentation

std::vector< std::string > robot_calibration::ChainManager::getChainJointNames

(

const std::string &

chain_name

)

Get the joint names associated with a chain. Mainly for testing.

Definition at line 301 of file chain_manager.cpp.

std::vector< std::string > robot_calibration::ChainManager::getChains

(

)

Get the names of chains. Mainly for testing.

Definition at line 291 of file chain_manager.cpp.

std::string robot_calibration::ChainManager::getPlanningGroupName

(

const std::string &

chain_name

)

Definition at line 313 of file chain_manager.cpp.

bool robot_calibration::ChainManager::getState

(

sensor_msgs::JointState *

state

)

Get the current JointState message.

Definition at line 124 of file chain_manager.cpp.

trajectory_msgs::JointTrajectoryPoint robot_calibration::ChainManager::makePoint ( const sensor_msgs::JointState &  state, const std::vector< std::string > &  joints  )

private

Definition at line 132 of file chain_manager.cpp.

bool robot_calibration::ChainManager::moveToState

(

const sensor_msgs::JointState &

state

)

Send commands to all managed joints. The ChainManager automatically figures out which controller to send these to.

Returns

False if failed.

Definition at line 156 of file chain_manager.cpp.

void robot_calibration::ChainManager::stateCallback ( const sensor_msgs::JointStateConstPtr &  msg )

private

Definition at line 85 of file chain_manager.cpp.

bool robot_calibration::ChainManager::waitToSettle

(

)

Wait for joints to settle.

Definition at line 233 of file chain_manager.cpp.

Member Data Documentation

std::vector<boost::shared_ptr<ChainController> > robot_calibration::ChainManager::controllers_

private

Definition at line 119 of file chain_manager.h.

double robot_calibration::ChainManager::duration_

private

Definition at line 118 of file chain_manager.h.

MoveGroupClientPtr robot_calibration::ChainManager::move_group_

private

Definition at line 120 of file chain_manager.h.

sensor_msgs::JointState robot_calibration::ChainManager::state_

private

Definition at line 114 of file chain_manager.h.

bool robot_calibration::ChainManager::state_is_valid_

private

Definition at line 115 of file chain_manager.h.

boost::mutex robot_calibration::ChainManager::state_mutex_

private

Definition at line 113 of file chain_manager.h.

ros::Subscriber robot_calibration::ChainManager::subscriber_

private

Definition at line 112 of file chain_manager.h.

double robot_calibration::ChainManager::velocity_factor_

private

Definition at line 121 of file chain_manager.h.

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

• chain_manager.h
• chain_manager.cpp