controller::CartesianWrenchController Class Reference

#include <cartesian_wrench_controller.h>

Inheritance diagram for controller::CartesianWrenchController:

Public Member Functions
	CartesianWrenchController ()
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void	starting ()
void	update ()
	~CartesianWrenchController ()
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::Wrench	wrench_desi_
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
void	command (const geometry_msgs::WrenchConstPtr &wrench_msg)

Private Attributes
pr2_mechanism_model::Chain	chain_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_eff_
KDL::JntArray	jnt_pos_
boost::scoped_ptr< KDL::ChainJntToJacSolver >	jnt_to_jac_solver_
KDL::Chain	kdl_chain_
ros::NodeHandle	node_
pr2_mechanism_model::RobotState *	robot_state_
ros::Subscriber	sub_command_

Detailed Description

Definition at line 73 of file cartesian_wrench_controller.h.

Constructor & Destructor Documentation

controller::CartesianWrenchController::CartesianWrenchController

(

)

Definition at line 45 of file cartesian_wrench_controller.cpp.

controller::CartesianWrenchController::~CartesianWrenchController

(

)

Definition at line 52 of file cartesian_wrench_controller.cpp.

Member Function Documentation

void controller::CartesianWrenchController::command ( const geometry_msgs::WrenchConstPtr &  wrench_msg )

private

Definition at line 139 of file cartesian_wrench_controller.cpp.

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 58 of file cartesian_wrench_controller.cpp.

void controller::CartesianWrenchController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 105 of file cartesian_wrench_controller.cpp.

void controller::CartesianWrenchController::update ( void  )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 113 of file cartesian_wrench_controller.cpp.

Member Data Documentation

pr2_mechanism_model::Chain controller::CartesianWrenchController::chain_

private

Definition at line 92 of file cartesian_wrench_controller.h.

KDL::Jacobian controller::CartesianWrenchController::jacobian_

private

Definition at line 97 of file cartesian_wrench_controller.h.

KDL::JntArray controller::CartesianWrenchController::jnt_eff_

private

Definition at line 96 of file cartesian_wrench_controller.h.

KDL::JntArray controller::CartesianWrenchController::jnt_pos_

private

Definition at line 96 of file cartesian_wrench_controller.h.

boost::scoped_ptr<KDL::ChainJntToJacSolver> controller::CartesianWrenchController::jnt_to_jac_solver_

private

Definition at line 95 of file cartesian_wrench_controller.h.

KDL::Chain controller::CartesianWrenchController::kdl_chain_

private

Definition at line 94 of file cartesian_wrench_controller.h.

ros::NodeHandle controller::CartesianWrenchController::node_

private

Definition at line 88 of file cartesian_wrench_controller.h.

pr2_mechanism_model::RobotState* controller::CartesianWrenchController::robot_state_

private

Definition at line 91 of file cartesian_wrench_controller.h.

ros::Subscriber controller::CartesianWrenchController::sub_command_

private

Definition at line 89 of file cartesian_wrench_controller.h.

KDL::Wrench controller::CartesianWrenchController::wrench_desi_

Definition at line 85 of file cartesian_wrench_controller.h.

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

• cartesian_wrench_controller.h
• cartesian_wrench_controller.cpp