Classes
class	CartesianPoseController

class	CartesianTwistController

class	CartesianWrenchController

class	Controller

class	ControllerLoader

class	ControllerManager

class	DiffDriveBaseController
	ROS-aware controller to manage a differential drive mobile base. This subcribes to cmd_vel topic, publishes odom and tf, and manages the two wheel joints. More...

class	FollowJointTrajectoryController
	This ROS interface implements a FollowJointTrajectoryAction interface for controlling (primarily) robot arms. More...

class	GravityCompensation
	Controller which uses KDL to compute torque needed for static holding of the chain at the current pose. More...

class	Handle

class	JointHandle

class	ParallelGripperController
	Controller for a parallel jaw gripper, is really only intended for use in simulation. More...

class	PID

class	PointHeadController

class	ScaledMimicController
	Controller for a having one joint be a (scaled) mimic of another. Primary design use case is making a fake bellows joint that moves in relation to a torso lift joint. More...

struct	Spline
	Spline. More...

class	SplineTrajectorySampler
	Sampler that uses splines. More...

struct	Trajectory

struct	TrajectoryPoint
	Basis for a Trajectory Point. More...

class	TrajectorySampler
	Base class for samplers of trajectories. More...

Typedefs
typedef boost::shared_ptr< ControllerLoader >	ControllerLoaderPtr

typedef boost::shared_ptr< Controller >	ControllerPtr

typedef boost::shared_ptr< DiffDriveBaseController >	DiffDriveBaseControllerPtr

typedef boost::shared_ptr< Handle >	HandlePtr

typedef boost::shared_ptr< JointHandle >	JointHandlePtr

Enumerations
enum	SplineType { QUINTIC, CUBIC, LINEAR }

Functions
static void	CubicSpline (double p0, double v0, double p1, double v1, double t, Spline &s)
	Constructor for a cubic spline with between (p0,v0) and (p1,v1) More...

static void	generatePowers (int n, double x, double *powers)
	Helper function for splines. More...

static void	LinearSpline (double p0, double p1, double t, Spline &s)

static void	QuinticSpline (double p0, double v0, double a0, double p1, double v1, double a1, double t, Spline &s)
	Create a quintic spline with between (p0,v0,a0) and (p1,v1,a1) More...

void	rosPrintTrajectory (Trajectory &t)
	Print trajectory to ROS INFO. More...

static void	sampleCubicSpline (Spline s, double t, double &position, double &velocity)
	Sample from the spline at time t. More...

static void	sampleLinearSpline (Spline &s, double t, double &position)

static void	sampleQuinticSpline (Spline &s, double t, double &position, double &velocity, double &acceleration)
	Sample from the spline at time t. More...

bool	spliceTrajectories (const Trajectory &t1, const Trajectory &t2, const double time, Trajectory *t)
	Splice two trajectories. More...

bool	trajectoryFromMsg (const trajectory_msgs::JointTrajectory &message, const std::vector< std::string > joints, Trajectory *trajectory)
	Convert message into Trajectory. More...

bool	unwindTrajectoryPoint (std::vector< bool > continuous, TrajectoryPoint &p)

bool	windupTrajectory (std::vector< bool > continuous, Trajectory &trajectory)
	Windup the trajectory so that continuous joints do not wrap. More...

Typedef Documentation

typedef boost::shared_ptr<DiffDriveBaseController> robot_controllers::DiffDriveBaseControllerPtr

Definition at line 187 of file diff_drive_base.h.

Enumeration Type Documentation

enum robot_controllers::SplineType

Enumerator
QUINTIC
CUBIC
LINEAR

Definition at line 54 of file trajectory_spline_sampler.h.

Function Documentation

static void robot_controllers::CubicSpline	(	double	p0,
		double	v0,
		double	p1,
		double	v1,
		double	t,
		Spline &	s
	)

static

Constructor for a cubic spline with between (p0,v0) and (p1,v1)

Parameters

p0	Starting position.
v0	Starting velocity.
p1	Ending position.
v1	Ending velocity.
t	Time between start and end.
s	Reference to the spline to create.

Definition at line 149 of file trajectory_spline_sampler.h.

static void robot_controllers::generatePowers	(	int	n,
		double	x,
		double *	powers
	)

inlinestatic

Helper function for splines.

Definition at line 62 of file trajectory_spline_sampler.h.

static void robot_controllers::LinearSpline	(	double	p0,
		double	p1,
		double	t,
		Spline &	s
	)

static

Definition at line 188 of file trajectory_spline_sampler.h.

static void robot_controllers::QuinticSpline	(	double	p0,
		double	v0,
		double	a0,
		double	p1,
		double	v1,
		double	a1,
		double	t,
		Spline &	s
	)

static

Create a quintic spline with between (p0,v0,a0) and (p1,v1,a1)

Parameters

p0	Starting position.
v0	Starting velocity.
a0	Starting acceleration.
p1	Ending position.
v1	Ending velocity.
a1	Ending acceleration.
t	Time between start and end.
s	The spline

Definition at line 82 of file trajectory_spline_sampler.h.

void robot_controllers::rosPrintTrajectory ( Trajectory & t )

inline

Print trajectory to ROS INFO.

Definition at line 221 of file trajectory.h.

static void robot_controllers::sampleCubicSpline	(	Spline	s,
		double	t,
		double &	position,
		double &	velocity
	)

static

Sample from the spline at time t.

Definition at line 173 of file trajectory_spline_sampler.h.

static void robot_controllers::sampleLinearSpline	(	Spline &	s,
		double	t,
		double &	position
	)

static

Definition at line 195 of file trajectory_spline_sampler.h.

static void robot_controllers::sampleQuinticSpline	(	Spline &	s,
		double	t,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

static

Sample from the spline at time t.

Definition at line 115 of file trajectory_spline_sampler.h.

bool robot_controllers::spliceTrajectories	(	const Trajectory &	t1,
		const Trajectory &	t2,
		const double	time,
		Trajectory *	t
	)

inline

Splice two trajectories.

Parameters

t1	First trajectory to splice
t2	Second trajectory to splice (will overwrite first)
time	The start time for the new trajectory (typically, current system time)
t	The new trajectory.

Definition at line 132 of file trajectory.h.

bool robot_controllers::trajectoryFromMsg	(	const trajectory_msgs::JointTrajectory &	message,
		const std::vector< std::string >	joints,
		Trajectory *	trajectory
	)

inline

Convert message into Trajectory.

Parameters

message	The trajectory message.
joints	Vector of joint names, used to order the values within a TrajectoryPoint
trajectory	The returned trajectory

Returns: True if trajectory generated, false otherwise.

Definition at line 76 of file trajectory.h.

bool robot_controllers::unwindTrajectoryPoint	(	std::vector< bool >	continuous,
		TrajectoryPoint &	p
	)

inline

Definition at line 285 of file trajectory.h.

bool robot_controllers::windupTrajectory	(	std::vector< bool >	continuous,
		Trajectory &	trajectory
	)

inline

Windup the trajectory so that continuous joints do not wrap.

Parameters

continuous	Which joints in each TrajectoryPoint are continuous.
trajectory	The trajectory to unwind.

Definition at line 253 of file trajectory.h.

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

Enumeration Type Documentation

Function Documentation