#include <joint_trajectory_action_controller.h>

Inheritance diagram for controller::JointTrajectoryActionController:

Classes
struct	Segment

struct	Spline

Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)

	JointTrajectoryActionController ()

void	starting ()

void	update ()

	~JointTrajectoryActionController ()

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 actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >	FJTAS

typedef JTAS::GoalHandle	GoalHandle

typedef FJTAS::GoalHandle	GoalHandleFollow

typedef actionlib::ActionServer< pr2_controllers_msgs::JointTrajectoryAction >	JTAS

typedef RTServerGoalHandle< pr2_controllers_msgs::JointTrajectoryAction >	RTGoalHandle

typedef RTServerGoalHandle< control_msgs::FollowJointTrajectoryAction >	RTGoalHandleFollow

typedef std::vector< Segment >	SpecifiedTrajectory

Private Member Functions
void	cancelCB (GoalHandle gh)

void	cancelCBFollow (GoalHandleFollow gh)

void	commandCB (const trajectory_msgs::JointTrajectory::ConstPtr &msg)

void	commandTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr< RTGoalHandle > gh=boost::shared_ptr< RTGoalHandle >((RTGoalHandle ) NULL), boost::shared_ptr< RTGoalHandleFollow > gh_follow=boost::shared_ptr< RTGoalHandleFollow >((RTGoalHandleFollow ) NULL))

void	goalCB (GoalHandle gh)

void	goalCBFollow (GoalHandleFollow gh)

void	preemptActiveGoal ()

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< JTAS >	action_server_

boost::scoped_ptr< FJTAS >	action_server_follow_

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState > >	controller_state_publisher_

realtime_tools::RealtimeBox< boost::shared_ptr< const SpecifiedTrajectory > >	current_trajectory_box_

double	default_goal_time_constraint_

std::vector< JointTolerance >	default_goal_tolerance_

std::vector< JointTolerance >	default_trajectory_tolerance_

ros::Timer	goal_handle_timer_

std::vector< pr2_mechanism_model::JointState * >	joints_

ros::Time	last_time_

int	loop_count_

std::vector< double >	masses_

ros::NodeHandle	node_

std::vector< boost::shared_ptr< filters::FilterChain< double > > >	output_filters_

std::vector< control_toolbox::Pid >	pids_

std::vector< control_toolbox::LimitedProxy >	proxies_

std::vector< bool >	proxies_enabled_

std::vector< double >	q

std::vector< double >	qd

std::vector< double >	qdd

pr2_mechanism_model::RobotState *	robot_

boost::shared_ptr< RTGoalHandle >	rt_active_goal_

boost::shared_ptr< RTGoalHandleFollow >	rt_active_goal_follow_

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 165 of file joint_trajectory_action_controller.h.

Member Typedef Documentation

typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::FJTAS

private

Definition at line 173 of file joint_trajectory_action_controller.h.

typedef JTAS::GoalHandle controller::JointTrajectoryActionController::GoalHandle

private

Definition at line 169 of file joint_trajectory_action_controller.h.

typedef FJTAS::GoalHandle controller::JointTrajectoryActionController::GoalHandleFollow

private

Definition at line 174 of file joint_trajectory_action_controller.h.

typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::JTAS

private

Definition at line 168 of file joint_trajectory_action_controller.h.

typedef RTServerGoalHandle<pr2_controllers_msgs::JointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandle

private

Definition at line 170 of file joint_trajectory_action_controller.h.

typedef RTServerGoalHandle<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::RTGoalHandleFollow

private

Definition at line 175 of file joint_trajectory_action_controller.h.

typedef std::vector<Segment> controller::JointTrajectoryActionController::SpecifiedTrajectory

private

Definition at line 262 of file joint_trajectory_action_controller.h.

Constructor & Destructor Documentation

controller::JointTrajectoryActionController::JointTrajectoryActionController ( )

Definition at line 142 of file joint_trajectory_action_controller.cpp.

controller::JointTrajectoryActionController::~JointTrajectoryActionController ( )

Definition at line 147 of file joint_trajectory_action_controller.cpp.

Member Function Documentation

void controller::JointTrajectoryActionController::cancelCB ( GoalHandle gh )

private

Definition at line 1054 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::cancelCBFollow ( GoalHandleFollow gh )

private

Definition at line 1072 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectory::ConstPtr & msg )

private

Definition at line 530 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::commandTrajectory	(	const trajectory_msgs::JointTrajectory::ConstPtr &	traj,
		boost::shared_ptr< RTGoalHandle >	gh = `boost::shared_ptr<RTGoalHandle>((RTGoalHandle*)NULL)`,
		boost::shared_ptr< RTGoalHandleFollow >	gh_follow = `boost::shared_ptr<RTGoalHandleFollow>((RTGoalHandleFollow*)NULL)`
	)

private

Definition at line 536 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::goalCB ( GoalHandle gh )

private

Definition at line 998 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::goalCBFollow ( GoalHandleFollow gh )

private

Definition at line 1024 of file joint_trajectory_action_controller.cpp.

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 155 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::preemptActiveGoal ( )

private

Definition at line 970 of file joint_trajectory_action_controller.cpp.

bool controller::JointTrajectoryActionController::queryStateService	(	pr2_controllers_msgs::QueryTrajectoryState::Request &	req,
		pr2_controllers_msgs::QueryTrajectoryState::Response &	resp
	)

private

Definition at line 883 of file joint_trajectory_action_controller.cpp.

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

staticprivate

Definition at line 926 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 313 of file joint_trajectory_action_controller.cpp.

void controller::JointTrajectoryActionController::update ( void )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 334 of file joint_trajectory_action_controller.cpp.

Member Data Documentation

boost::scoped_ptr<JTAS> controller::JointTrajectoryActionController::action_server_

private

Definition at line 222 of file joint_trajectory_action_controller.h.

boost::scoped_ptr<FJTAS> controller::JointTrajectoryActionController::action_server_follow_

private

Definition at line 223 of file joint_trajectory_action_controller.h.

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointTrajectoryActionController::controller_state_publisher_

private

Definition at line 220 of file joint_trajectory_action_controller.h.