controller Namespace Reference

Classes
class	CartesianPoseController
class	CartesianTwistController
class	CartesianWrenchController
class	Controller
class	ControllerProvider
class	JointEffortController
class	JointPositionController
class	JointSplineTrajectoryController
class	JointTolerance
class	JointTrajectoryActionController
class	JointVelocityController
class	JTCartesianController
struct	Kin
class	RTServerGoalHandle

Functions
static void	computePoseError (const Eigen::Affine3d &xact, const Eigen::Affine3d &xdes, Eigen::Matrix< double, 6, 1 > &err)
static void	generatePowers (int n, double x, double *powers)
static void	generatePowers (int n, double x, double *powers)
static void	getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void	getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void	getQuinticSplineCoefficients (double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void	getQuinticSplineCoefficients (double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void	sampleQuinticSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a quintic spline segment at a particular time. More...
static void	sampleQuinticSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a quintic spline segment at a particular time. More...
static bool	setsEqual (const std::vector< std::string > &a, const std::vector< std::string > &b)
template<class Enclosure , class Member >
static boost::shared_ptr< Member >	share_member (boost::shared_ptr< Enclosure > enclosure, Member &member)

Function Documentation

static void controller::computePoseError ( const Eigen::Affine3d &  xact, const Eigen::Affine3d &  xdes, Eigen::Matrix< double, 6, 1 > &  err  )

static

Definition at line 192 of file jt_cartesian_controller.cpp.

static void controller::generatePowers ( int  n, double  x, double *  powers  )

inlinestatic

Definition at line 48 of file joint_spline_trajectory_controller.cpp.

static void controller::generatePowers ( int  n, double  x, double *  powers  )

inlinestatic

Definition at line 48 of file joint_trajectory_action_controller.cpp.

static void controller::getCubicSplineCoefficients ( double  start_pos, double  start_vel, double  end_pos, double  end_vel, double  time, std::vector< double > &  coefficients  )

static

Definition at line 117 of file joint_trajectory_action_controller.cpp.

static void controller::getCubicSplineCoefficients ( double  start_pos, double  start_vel, double  end_pos, double  end_vel, double  time, std::vector< double > &  coefficients  )

static

Definition at line 117 of file joint_spline_trajectory_controller.cpp.

static void controller::getQuinticSplineCoefficients ( double  start_pos, double  start_vel, double  start_acc, double  end_pos, double  end_vel, double  end_acc, double  time, std::vector< double > &  coefficients  )

static

Definition at line 57 of file joint_spline_trajectory_controller.cpp.

static void controller::getQuinticSplineCoefficients ( double  start_pos, double  start_vel, double  start_acc, double  end_pos, double  end_vel, double  end_acc, double  time, std::vector< double > &  coefficients  )

static

Definition at line 57 of file joint_trajectory_action_controller.cpp.

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

static

Samples a quintic spline segment at a particular time.

Definition at line 91 of file joint_trajectory_action_controller.cpp.

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

static

Samples a quintic spline segment at a particular time.

Definition at line 91 of file joint_spline_trajectory_controller.cpp.

static bool controller::setsEqual ( const std::vector< std::string > &  a, const std::vector< std::string > &  b  )

static

Definition at line 951 of file joint_trajectory_action_controller.cpp.

template<class Enclosure , class Member >

static boost::shared_ptr<Member> controller::share_member ( boost::shared_ptr< Enclosure >  enclosure, Member &  member  )

static

Definition at line 991 of file joint_trajectory_action_controller.cpp.