#include <point_head.h>

Inheritance diagram for robot_controllers::PointHeadController:

Public Member Functions
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims. More...

virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands. More...

virtual std::string	getType ()
	Get the type of this controller. More...

virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...

	PointHeadController ()

virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition. More...

virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...

virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...

virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller. More...

virtual	~PointHeadController ()

Public Member Functions inherited from robot_controllers::Controller
	Controller ()

std::string	getName ()

virtual	~Controller ()

Public Member Functions inherited from robot_controllers::Handle
	Handle ()

virtual	~Handle ()

Private Types
typedef actionlib::SimpleActionServer< control_msgs::PointHeadAction >	head_server_t

Private Member Functions
void	executeCb (const control_msgs::PointHeadGoalConstPtr &goal)

Private Attributes
JointHandlePtr	head_pan_

JointHandlePtr	head_tilt_

bool	initialized_

KDL::Tree	kdl_tree_

TrajectoryPoint	last_sample_

tf::TransformListener	listener_

ControllerManager *	manager_

bool	preempted_

control_msgs::PointHeadResult	result_

std::string	root_link_
	action was preempted (has nothing to do with preempt() above More...

boost::shared_ptr< TrajectorySampler >	sampler_

boost::mutex	sampler_mutex_

boost::shared_ptr< head_server_t >	server_

bool	stop_with_action_

Detailed Description

Definition at line 60 of file point_head.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::PointHeadAction> robot_controllers::PointHeadController::head_server_t

private

Definition at line 62 of file point_head.h.

Constructor & Destructor Documentation

robot_controllers::PointHeadController::PointHeadController ( )

inline

Definition at line 65 of file point_head.h.

virtual robot_controllers::PointHeadController::~PointHeadController ( )

inlinevirtual

Definition at line 66 of file point_head.h.

Member Function Documentation

void robot_controllers::PointHeadController::executeCb ( const control_msgs::PointHeadGoalConstPtr & goal )

private

Definition at line 195 of file point_head.cpp.

std::vector< std::string > robot_controllers::PointHeadController::getClaimedNames ( )

virtual

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 298 of file point_head.cpp.

std::vector< std::string > robot_controllers::PointHeadController::getCommandedNames ( )

virtual

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 290 of file point_head.cpp.

virtual std::string robot_controllers::PointHeadController::getType ( )

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 109 of file point_head.h.

int robot_controllers::PointHeadController::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)

virtual

Initialize the controller and any required data structures.

Parameters

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 49 of file point_head.cpp.

bool robot_controllers::PointHeadController::reset ( )

virtual

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.

Returns: True if successfully reset, false otherwise.

Implements robot_controllers::Controller.

Definition at line 156 of file point_head.cpp.

bool robot_controllers::PointHeadController::start ( )

virtual

Attempt to start the controller. This should be called only by the ControllerManager instance.

Returns: True if successfully started, false otherwise.

Implements robot_controllers::Controller.

Definition at line 113 of file point_head.cpp.

bool robot_controllers::PointHeadController::stop ( bool force )

virtual

Attempt to stop the controller. This should be called only by the ControllerManager instance.

Parameters

force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.

Returns: True if successfully stopped, false otherwise.

Implements robot_controllers::Controller.

Definition at line 132 of file point_head.cpp.

void robot_controllers::PointHeadController::update	(	const ros::Time &	now,
		const ros::Duration &	dt
	)

virtual

This is the update loop for the controller.

Parameters

time	The system time.
dt	The timestep since last call to update.

Implements robot_controllers::Controller.

Definition at line 162 of file point_head.cpp.

Member Data Documentation

JointHandlePtr robot_controllers::PointHeadController::head_pan_

private

Definition at line 143 of file point_head.h.

JointHandlePtr robot_controllers::PointHeadController::head_tilt_

private

Definition at line 144 of file point_head.h.

bool robot_controllers::PointHeadController::initialized_

private

Definition at line 123 of file point_head.h.

KDL::Tree robot_controllers::PointHeadController::kdl_tree_

private

Definition at line 147 of file point_head.h.

TrajectoryPoint robot_controllers::PointHeadController::last_sample_

private

should we stop this controller when the action has terminated (or hold position)?

Definition at line 139 of file point_head.h.

tf::TransformListener robot_controllers::PointHeadController::listener_

private

Definition at line 148 of file point_head.h.

ControllerManager* robot_controllers::PointHeadController::manager_

private

Definition at line 124 of file point_head.h.

bool robot_controllers::PointHeadController::preempted_

private

Definition at line 140 of file point_head.h.

control_msgs::PointHeadResult robot_controllers::PointHeadController::result_

private

Definition at line 126 of file point_head.h.

std::string robot_controllers::PointHeadController::root_link_

private

action was preempted (has nothing to do with preempt() above

Definition at line 142 of file point_head.h.

boost::shared_ptr<TrajectorySampler> robot_controllers::PointHeadController::sampler_

private

Definition at line 127 of file point_head.h.

boost::mutex robot_controllers::PointHeadController::sampler_mutex_

private

Definition at line 128 of file point_head.h.

boost::shared_ptr<head_server_t> robot_controllers::PointHeadController::server_

private

Definition at line 145 of file point_head.h.

bool robot_controllers::PointHeadController::stop_with_action_

private

Definition at line 130 of file point_head.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation