RosReflexxesVelocityInterface Class Reference

#include <RosReflexxesVelocityInterface.h>

Inheritance diagram for RosReflexxesVelocityInterface:

Public Member Functions
void	advance_reflexxes ()
std::vector< double >	get_current_acceleration () override
std::vector< double >	get_current_position () override
RMLVelocityInputParameters	get_current_state ()
std::vector< double >	get_current_velocity () override
double	get_period ()
std::vector< double >	get_target_command () override
std::vector< double >	get_target_velocity ()
bool	init (ros::NodeHandle nh) override
void	reset_to_previous_state (RMLVelocityInputParameters previous_state)
	RosReflexxesVelocityInterface ()
	RosReflexxesVelocityInterface (ros::NodeHandle nh)
	RosReflexxesVelocityInterface (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 > &initial_command) override
std::vector< double >	update () override
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
RMLVelocityFlags	flags_
boost::shared_ptr< RMLVelocityInputParameters >	input_params_
std::vector< double >	max_acceleration_
std::vector< double >	max_jerk_
std::vector< double >	max_velocities_
int	n_dim_
ros::NodeHandle	nh_
boost::shared_ptr< RMLVelocityOutputParameters >	output_params_
double	period_
bool	position_initialized_
boost::shared_ptr< ReflexxesAPI >	rml_

Detailed Description

Definition at line 12 of file RosReflexxesVelocityInterface.h.

Constructor & Destructor Documentation

RosReflexxesVelocityInterface::RosReflexxesVelocityInterface ( )

inline

Definition at line 32 of file RosReflexxesVelocityInterface.h.

RosReflexxesVelocityInterface::RosReflexxesVelocityInterface ( ros::NodeHandle  nh )

inline

Definition at line 33 of file RosReflexxesVelocityInterface.h.

RosReflexxesVelocityInterface::RosReflexxesVelocityInterface ( std::string  nh )

inline

Definition at line 34 of file RosReflexxesVelocityInterface.h.

Member Function Documentation

void RosReflexxesVelocityInterface::advance_reflexxes

(

)

Definition at line 85 of file RosReflexxesVelocityInterface.cpp.

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

overridevirtual

Implements RosReflexxesInterface.

Definition at line 108 of file RosReflexxesVelocityInterface.cpp.

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

overridevirtual

getter

Implements RosReflexxesInterface.

Definition at line 124 of file RosReflexxesVelocityInterface.cpp.

RMLVelocityInputParameters RosReflexxesVelocityInterface::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.

Returns

reflexxes input parameters

Definition at line 146 of file RosReflexxesVelocityInterface.cpp.

std::vector< double > RosReflexxesVelocityInterface::get_current_velocity ( )

overridevirtual

Implements RosReflexxesInterface.

Definition at line 116 of file RosReflexxesVelocityInterface.cpp.

double RosReflexxesVelocityInterface::get_period

(

)

Definition at line 151 of file RosReflexxesVelocityInterface.cpp.

std::vector<double> RosReflexxesVelocityInterface::get_target_command ( )

inlineoverridevirtual

make ros interface generic

Implements RosReflexxesInterface.

Definition at line 43 of file RosReflexxesVelocityInterface.h.

std::vector< double > RosReflexxesVelocityInterface::get_target_velocity

(

)

Definition at line 132 of file RosReflexxesVelocityInterface.cpp.

bool RosReflexxesVelocityInterface::init ( ros::NodeHandle  nh )

overridevirtual

ros methods

Implements RosReflexxesInterface.

Definition at line 4 of file RosReflexxesVelocityInterface.cpp.

bool RosReflexxesVelocityInterface::load_parameters ( std::string  ns )

private

Definition at line 28 of file RosReflexxesVelocityInterface.cpp.

void RosReflexxesVelocityInterface::reset_to_previous_state

(

RMLVelocityInputParameters

previous_state

)

Definition at line 101 of file RosReflexxesVelocityInterface.cpp.

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

inlineoverridevirtual

Implements RosReflexxesInterface.

Definition at line 47 of file RosReflexxesVelocityInterface.h.

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

inlineoverridevirtual

Implements RosReflexxesInterface.

Definition at line 68 of file RosReflexxesVelocityInterface.h.

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

overridevirtual

Implements RosReflexxesInterface.

Definition at line 156 of file RosReflexxesVelocityInterface.cpp.

void RosReflexxesVelocityInterface::starting ( const std::vector< double > &  initial_command )

overridevirtual

Implements RosReflexxesInterface.

Definition at line 72 of file RosReflexxesVelocityInterface.cpp.

std::vector< double > RosReflexxesVelocityInterface::update ( )

overridevirtual

Implements RosReflexxesInterface.

Definition at line 96 of file RosReflexxesVelocityInterface.cpp.

Member Data Documentation

RMLVelocityFlags RosReflexxesVelocityInterface::flags_

private

Definition at line 23 of file RosReflexxesVelocityInterface.h.

boost::shared_ptr<RMLVelocityInputParameters> RosReflexxesVelocityInterface::input_params_

private

Definition at line 24 of file RosReflexxesVelocityInterface.h.

std::vector<double> RosReflexxesVelocityInterface::max_acceleration_

private

Definition at line 20 of file RosReflexxesVelocityInterface.h.

std::vector<double> RosReflexxesVelocityInterface::max_jerk_

private

Definition at line 21 of file RosReflexxesVelocityInterface.h.

std::vector<double> RosReflexxesVelocityInterface::max_velocities_

private

Definition at line 19 of file RosReflexxesVelocityInterface.h.

int RosReflexxesVelocityInterface::n_dim_

private

Definition at line 17 of file RosReflexxesVelocityInterface.h.

ros::NodeHandle RosReflexxesVelocityInterface::nh_

private

Definition at line 15 of file RosReflexxesVelocityInterface.h.

boost::shared_ptr<RMLVelocityOutputParameters> RosReflexxesVelocityInterface::output_params_

private

Definition at line 25 of file RosReflexxesVelocityInterface.h.

double RosReflexxesVelocityInterface::period_

private

Definition at line 18 of file RosReflexxesVelocityInterface.h.

bool RosReflexxesVelocityInterface::position_initialized_

private

Definition at line 27 of file RosReflexxesVelocityInterface.h.

boost::shared_ptr<ReflexxesAPI> RosReflexxesVelocityInterface::rml_

private

Definition at line 26 of file RosReflexxesVelocityInterface.h.

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

• RosReflexxesVelocityInterface.h
• RosReflexxesVelocityInterface.cpp