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

#include <joint_trajectory_action_controller.h>

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

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< SegmentSpecifiedTrajectory
 

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< JTASaction_server_
 
boost::scoped_ptr< FJTASaction_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< JointTolerancedefault_goal_tolerance_
 
std::vector< JointTolerancedefault_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::Pidpids_
 
std::vector< control_toolbox::LimitedProxyproxies_
 
std::vector< bool > proxies_enabled_
 
std::vector< double > q
 
std::vector< double > qd
 
std::vector< double > qdd
 
pr2_mechanism_model::RobotStaterobot_
 
boost::shared_ptr< RTGoalHandlert_active_goal_
 
boost::shared_ptr< RTGoalHandleFollowrt_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.

Definition at line 169 of file joint_trajectory_action_controller.h.

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.

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
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

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.

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

Definition at line 265 of file joint_trajectory_action_controller.h.

double controller::JointTrajectoryActionController::default_goal_time_constraint_
private

Definition at line 199 of file joint_trajectory_action_controller.h.

std::vector<JointTolerance> controller::JointTrajectoryActionController::default_goal_tolerance_
private

Definition at line 198 of file joint_trajectory_action_controller.h.

std::vector<JointTolerance> controller::JointTrajectoryActionController::default_trajectory_tolerance_
private

Definition at line 197 of file joint_trajectory_action_controller.h.

ros::Timer controller::JointTrajectoryActionController::goal_handle_timer_
private

Definition at line 228 of file joint_trajectory_action_controller.h.

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

Definition at line 191 of file joint_trajectory_action_controller.h.

ros::Time controller::JointTrajectoryActionController::last_time_
private

Definition at line 190 of file joint_trajectory_action_controller.h.

int controller::JointTrajectoryActionController::loop_count_
private

Definition at line 188 of file joint_trajectory_action_controller.h.

std::vector<double> controller::JointTrajectoryActionController::masses_
private

Definition at line 192 of file joint_trajectory_action_controller.h.

ros::NodeHandle controller::JointTrajectoryActionController::node_
private

Definition at line 209 of file joint_trajectory_action_controller.h.

std::vector<boost::shared_ptr<filters::FilterChain<double> > > controller::JointTrajectoryActionController::output_filters_
private

Definition at line 207 of file joint_trajectory_action_controller.h.

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

Definition at line 193 of file joint_trajectory_action_controller.h.

std::vector<control_toolbox::LimitedProxy> controller::JointTrajectoryActionController::proxies_
private

Definition at line 195 of file joint_trajectory_action_controller.h.

std::vector<bool> controller::JointTrajectoryActionController::proxies_enabled_
private

Definition at line 194 of file joint_trajectory_action_controller.h.

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

Definition at line 273 of file joint_trajectory_action_controller.h.

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

Definition at line 273 of file joint_trajectory_action_controller.h.

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

Definition at line 273 of file joint_trajectory_action_controller.h.

pr2_mechanism_model::RobotState* controller::JointTrajectoryActionController::robot_
private

Definition at line 189 of file joint_trajectory_action_controller.h.

boost::shared_ptr<RTGoalHandle> controller::JointTrajectoryActionController::rt_active_goal_
private

Definition at line 230 of file joint_trajectory_action_controller.h.

boost::shared_ptr<RTGoalHandleFollow> controller::JointTrajectoryActionController::rt_active_goal_follow_
private

Definition at line 231 of file joint_trajectory_action_controller.h.

ros::ServiceServer controller::JointTrajectoryActionController::serve_query_state_
private

Definition at line 216 of file joint_trajectory_action_controller.h.

ros::Subscriber controller::JointTrajectoryActionController::sub_command_
private

Definition at line 212 of file joint_trajectory_action_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