#include <RosReflexxesPositionInterface.h>

Inheritance diagram for RosReflexxesPositionInterface:

Public Member Functions
void	advance_reflexxes ()

std::vector< double >	get_current_acceleration () override

std::vector< double >	get_current_position () override

RMLPositionInputParameters	get_current_state ()

std::vector< double >	get_current_velocity () override

std::vector< double >	get_target_command () override

std::vector< double >	get_target_position ()

ros::Duration	get_time_to_target_completedness ()

bool	init (ros::NodeHandle nh) override

void	reset_to_previous_state (RMLPositionInputParameters previous_state)

	RosReflexxesPositionInterface ()

	RosReflexxesPositionInterface (ros::NodeHandle nh)

	RosReflexxesPositionInterface (std::string nh)

void	set_target_command (const std::vector< double > &command) override

void	set_target_position (const std::vector< double > &t_pos) override

void	set_target_velocity (const std::vector< double > &t_vel) override

void	starting (const std::vector< double > &c_pos) override

std::vector< double >	update () override

virtual	~RosReflexxesPositionInterface ()

Public Member Functions inherited from RosReflexxesInterface
std::vector< double >	update (const std::vector< double > &command)

virtual	~RosReflexxesInterface ()

Private Member Functions
bool	load_parameters (std::string ns)

Private Attributes
RMLPositionFlags	flags_

boost::shared_ptr< RMLPositionInputParameters >	input_params_

std::vector< double >	max_acceleration_

std::vector< double >	max_jerk_

std::vector< double >	max_velocities_

int	n_dim_ = 0

ros::NodeHandle	nh_

boost::shared_ptr< RMLPositionOutputParameters >	output_params_

double	period_ = 0

bool	position_initialized_ = false

boost::shared_ptr< ReflexxesAPI >	rml_

Detailed Description

Definition at line 12 of file RosReflexxesPositionInterface.h.

Constructor & Destructor Documentation

RosReflexxesPositionInterface::RosReflexxesPositionInterface ( )

inline

Definition at line 39 of file RosReflexxesPositionInterface.h.

virtual RosReflexxesPositionInterface::~RosReflexxesPositionInterface ( )

inlinevirtual

Definition at line 40 of file RosReflexxesPositionInterface.h.

RosReflexxesPositionInterface::RosReflexxesPositionInterface ( ros::NodeHandle nh )

inline

Definition at line 41 of file RosReflexxesPositionInterface.h.

RosReflexxesPositionInterface::RosReflexxesPositionInterface ( std::string nh )

inline

Definition at line 42 of file RosReflexxesPositionInterface.h.

Member Function Documentation

void RosReflexxesPositionInterface::advance_reflexxes ( )

Definition at line 103 of file RosReflexxesPositionInterface.cpp.

std::vector< double > RosReflexxesPositionInterface::get_current_acceleration ( )

overridevirtual

Implements RosReflexxesInterface.

Definition at line 126 of file RosReflexxesPositionInterface.cpp.

std::vector< double > RosReflexxesPositionInterface::get_current_position ( )

overridevirtual

getter

Implements RosReflexxesInterface.

Definition at line 144 of file RosReflexxesPositionInterface.cpp.

RMLPositionInputParameters RosReflexxesPositionInterface::get_current_state ( )

This getter is given in order to copy and store the current state of reflexxes, in order to be able to reset to a previous state if desired using the stored states retrieved by this function.