Classes | Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
controller::JointSplineTrajectoryController Class Reference

#include <joint_spline_trajectory_controller.h>

Inheritance diagram for controller::JointSplineTrajectoryController:
Inheritance graph
[legend]

Classes

struct  Segment
 
struct  Spline
 

Public Member Functions

bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
 
 JointSplineTrajectoryController ()
 
void starting ()
 
void update ()
 
 ~JointSplineTrajectoryController ()
 
- 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 ()
 

Private Types

typedef std::vector< SegmentSpecifiedTrajectory
 

Private Member Functions

void commandCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
 
bool queryStateService (pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)
 

Static Private Member Functions

static void sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
 

Private Attributes

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState > > controller_state_publisher_
 
realtime_tools::RealtimeBox< boost::shared_ptr< const SpecifiedTrajectory > > current_trajectory_box_
 
std::vector< pr2_mechanism_model::JointState * > joints_
 
ros::Time last_time_
 
int loop_count_
 
ros::NodeHandle node_
 
std::vector< control_toolbox::Pidpids_
 
std::vector< double > q
 
std::vector< double > qd
 
std::vector< double > qdd
 
pr2_mechanism_model::RobotStaterobot_
 
ros::ServiceServer serve_query_state_
 
ros::Subscriber sub_command_
 

Additional Inherited Members

- 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_
 

Detailed Description

Definition at line 58 of file joint_spline_trajectory_controller.h.

Member Typedef Documentation

Definition at line 107 of file joint_spline_trajectory_controller.h.

Constructor & Destructor Documentation

controller::JointSplineTrajectoryController::JointSplineTrajectoryController ( )

Definition at line 142 of file joint_spline_trajectory_controller.cpp.

controller::JointSplineTrajectoryController::~JointSplineTrajectoryController ( )

Definition at line 147 of file joint_spline_trajectory_controller.cpp.

Member Function Documentation

void controller::JointSplineTrajectoryController::commandCB ( const trajectory_msgs::JointTrajectoryConstPtr &  msg)
private

Definition at line 342 of file joint_spline_trajectory_controller.cpp.

bool controller::JointSplineTrajectoryController::init ( pr2_mechanism_model::RobotState robot,
ros::NodeHandle n 
)
virtual
bool controller::JointSplineTrajectoryController::queryStateService ( pr2_controllers_msgs::QueryTrajectoryState::Request &  req,
pr2_controllers_msgs::QueryTrajectoryState::Response &  resp 
)
private

Definition at line 583 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::sampleSplineWithTimeBounds ( const std::vector< double > &  coefficients,
double  duration,
double  time,
double &  position,
double &  velocity,
double &  acceleration 
)
staticprivate

Definition at line 626 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::starting ( )
virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 247 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::update ( void  )
virtual

Member Data Documentation

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointSplineTrajectoryController::controller_state_publisher_
private

Definition at line 88 of file joint_spline_trajectory_controller.h.

realtime_tools::RealtimeBox< boost::shared_ptr<const SpecifiedTrajectory> > controller::JointSplineTrajectoryController::current_trajectory_box_
private

Definition at line 110 of file joint_spline_trajectory_controller.h.

std::vector<pr2_mechanism_model::JointState*> controller::JointSplineTrajectoryController::joints_
private

Definition at line 74 of file joint_spline_trajectory_controller.h.

ros::Time controller::JointSplineTrajectoryController::last_time_
private

Definition at line 73 of file joint_spline_trajectory_controller.h.

int controller::JointSplineTrajectoryController::loop_count_
private

Definition at line 71 of file joint_spline_trajectory_controller.h.

ros::NodeHandle controller::JointSplineTrajectoryController::node_
private

Definition at line 77 of file joint_spline_trajectory_controller.h.

std::vector<control_toolbox::Pid> controller::JointSplineTrajectoryController::pids_
private

Definition at line 75 of file joint_spline_trajectory_controller.h.

std::vector<double> controller::JointSplineTrajectoryController::q
private

Definition at line 118 of file joint_spline_trajectory_controller.h.

std::vector<double> controller::JointSplineTrajectoryController::qd
private

Definition at line 118 of file joint_spline_trajectory_controller.h.

std::vector<double> controller::JointSplineTrajectoryController::qdd
private

Definition at line 118 of file joint_spline_trajectory_controller.h.

pr2_mechanism_model::RobotState* controller::JointSplineTrajectoryController::robot_
private

Definition at line 72 of file joint_spline_trajectory_controller.h.

ros::ServiceServer controller::JointSplineTrajectoryController::serve_query_state_
private

Definition at line 84 of file joint_spline_trajectory_controller.h.

ros::Subscriber controller::JointSplineTrajectoryController::sub_command_
private

Definition at line 80 of file joint_spline_trajectory_controller.h.


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


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Mon Jun 10 2019 14:26:26