controller::CartesianPoseController Class Reference

#include <cartesian_pose_controller.h>

Inheritance diagram for controller::CartesianPoseController:

Public Member Functions
	CartesianPoseController ()
void	command (const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void	starting ()
void	update ()
	~CartesianPoseController ()
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)
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 ()

Public Attributes
KDL::Frame	pose_desi_
KDL::Frame	pose_meas_
KDL::Twist	twist_error_
KDL::Twist	twist_ff_
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_

Private Member Functions
KDL::Frame	getPose ()

Private Attributes
pr2_mechanism_model::Chain	chain_
boost::scoped_ptr< tf::MessageFilter< geometry_msgs::PoseStamped > >	command_filter_
std::string	controller_name_
boost::scoped_ptr< KDL::ChainJntToJacSolver >	jac_solver_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_eff_
KDL::JntArray	jnt_pos_
boost::scoped_ptr< KDL::ChainFkSolverPos >	jnt_to_pose_solver_
KDL::Chain	kdl_chain_
ros::Time	last_time_
unsigned int	loop_count_
ros::NodeHandle	node_
std::vector< control_toolbox::Pid >	pid_controller_
pr2_mechanism_model::RobotState *	robot_state_
std::string	root_name_
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::Twist > >	state_error_publisher_
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped > >	state_pose_publisher_
message_filters::Subscriber< geometry_msgs::PoseStamped >	sub_command_
tf::TransformListener	tf_

Detailed Description

Definition at line 97 of file cartesian_pose_controller.h.

Constructor & Destructor Documentation

controller::CartesianPoseController::CartesianPoseController

(

)

Definition at line 51 of file cartesian_pose_controller.cpp.

controller::CartesianPoseController::~CartesianPoseController

(

)

Definition at line 55 of file cartesian_pose_controller.cpp.

Member Function Documentation

void controller::CartesianPoseController::command

(

const geometry_msgs::PoseStamped::ConstPtr &

pose_msg

)

Definition at line 204 of file cartesian_pose_controller.cpp.

Frame controller::CartesianPoseController::getPose ( )

private

Definition at line 192 of file cartesian_pose_controller.cpp.

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 61 of file cartesian_pose_controller.cpp.

void controller::CartesianPoseController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 121 of file cartesian_pose_controller.cpp.

void controller::CartesianPoseController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 137 of file cartesian_pose_controller.cpp.

Member Data Documentation

pr2_mechanism_model::Chain controller::CartesianPoseController::chain_

private

Definition at line 125 of file cartesian_pose_controller.h.

boost::scoped_ptr<tf::MessageFilter<geometry_msgs::PoseStamped> > controller::CartesianPoseController::command_filter_

private

Definition at line 145 of file cartesian_pose_controller.h.

std::string controller::CartesianPoseController::controller_name_

private

Definition at line 120 of file cartesian_pose_controller.h.

boost::scoped_ptr<KDL::ChainJntToJacSolver> controller::CartesianPoseController::jac_solver_

private

Definition at line 133 of file cartesian_pose_controller.h.

KDL::Jacobian controller::CartesianPoseController::jacobian_

private

Definition at line 136 of file cartesian_pose_controller.h.

KDL::JntArray controller::CartesianPoseController::jnt_eff_

private

Definition at line 135 of file cartesian_pose_controller.h.

KDL::JntArray controller::CartesianPoseController::jnt_pos_

private

Definition at line 134 of file cartesian_pose_controller.h.

boost::scoped_ptr<KDL::ChainFkSolverPos> controller::CartesianPoseController::jnt_to_pose_solver_

private

Definition at line 132 of file cartesian_pose_controller.h.

KDL::Chain controller::CartesianPoseController::kdl_chain_

private

Definition at line 131 of file cartesian_pose_controller.h.

ros::Time controller::CartesianPoseController::last_time_

private

Definition at line 121 of file cartesian_pose_controller.h.

unsigned int controller::CartesianPoseController::loop_count_

private

Definition at line 141 of file cartesian_pose_controller.h.

ros::NodeHandle controller::CartesianPoseController::node_

private

Definition at line 119 of file cartesian_pose_controller.h.

std::vector<control_toolbox::Pid> controller::CartesianPoseController::pid_controller_

private

Definition at line 128 of file cartesian_pose_controller.h.

KDL::Frame controller::CartesianPoseController::pose_desi_

Definition at line 110 of file cartesian_pose_controller.h.

KDL::Frame controller::CartesianPoseController::pose_meas_

Definition at line 110 of file cartesian_pose_controller.h.

pr2_mechanism_model::RobotState* controller::CartesianPoseController::robot_state_

private

Definition at line 124 of file cartesian_pose_controller.h.

std::string controller::CartesianPoseController::root_name_

private

Definition at line 120 of file cartesian_pose_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > controller::CartesianPoseController::state_error_publisher_

private

Definition at line 139 of file cartesian_pose_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> > controller::CartesianPoseController::state_pose_publisher_

private

Definition at line 140 of file cartesian_pose_controller.h.

message_filters::Subscriber<geometry_msgs::PoseStamped> controller::CartesianPoseController::sub_command_

private

Definition at line 144 of file cartesian_pose_controller.h.

tf::TransformListener controller::CartesianPoseController::tf_

private

Definition at line 143 of file cartesian_pose_controller.h.

KDL::Twist controller::CartesianPoseController::twist_error_

Definition at line 114 of file cartesian_pose_controller.h.

KDL::Twist controller::CartesianPoseController::twist_ff_

Definition at line 111 of file cartesian_pose_controller.h.

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

• cartesian_pose_controller.h
• cartesian_pose_controller.cpp