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

#include <joint_spline_trajectory_action_controller.hpp>

Classes

struct  Segment
 
struct  Spline
 

Public Member Functions

 JointTrajectoryActionController ()
 
 JointTrajectoryActionController ()
 

Private Types

typedef std::map< std::string, ros::Publisher > JointPubMap
 
typedef std::vector< trajectory_msgs::JointTrajectoryPoint > JointTrajectoryPointVec
 
typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction > JTAS
 
typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction > JTAS
 
typedef std::vector< Segment > SpecifiedTrajectory
 

Private Member Functions

void commandCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
 
void execute_trajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
 
void execute_trajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
 
bool getPosition (std::string joint_name, double &position)
 
void updateJointState ()
 

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::shared_ptr< JTAS > action_server
 
ros::Subscriber command_sub
 
std::vector< ros::Publisher > controller_publishers
 
ros::Publisher desired_joint_state_pusblisher
 
std::vector< std::string > joint_names_
 
JointPubMap joint_pub
 
ros::ServiceClient joint_state_client
 
std::map< std::string, unsigned int > joint_state_idx_map
 
std::map< std::string, double > joint_state_map
 
std::map< std::string, std::string > jointControllerMap
 
std::map< std::string, unsigned int > jointPubIdxMap
 
ros::Time last_time_
 
ros::NodeHandle nh
 
ros::NodeHandle nh_tilde
 
std::vector< double > q
 
std::vector< double > qd
 
std::vector< double > qdd
 
ros::Publisher sr_arm_target_pub
 
ros::Publisher sr_hand_target_pub
 
bool use_sendupdate
 

Detailed Description

Definition at line 43 of file joint_spline_trajectory_action_controller.hpp.

Member Typedef Documentation

typedef std::map<std::string, ros::Publisher> shadowrobot::JointTrajectoryActionController::JointPubMap
private

Definition at line 46 of file joint_trajectory_action_controller.hpp.

typedef std::vector<trajectory_msgs::JointTrajectoryPoint> shadowrobot::JointTrajectoryActionController::JointTrajectoryPointVec
private

Definition at line 45 of file joint_trajectory_action_controller.hpp.

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> shadowrobot::JointTrajectoryActionController::JTAS
private

Definition at line 44 of file joint_trajectory_action_controller.hpp.

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> shadowrobot::JointTrajectoryActionController::JTAS
private

Definition at line 45 of file joint_spline_trajectory_action_controller.hpp.

typedef std::vector<Segment> shadowrobot::JointTrajectoryActionController::SpecifiedTrajectory
private

Definition at line 84 of file joint_spline_trajectory_action_controller.hpp.

Constructor & Destructor Documentation

shadowrobot::JointTrajectoryActionController::JointTrajectoryActionController ( )

Definition at line 138 of file joint_spline_trajectory_action_controller.cpp.

shadowrobot::JointTrajectoryActionController::JointTrajectoryActionController ( )

Member Function Documentation

void shadowrobot::JointTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectoryConstPtr &  msg)
private

Definition at line 617 of file joint_spline_trajectory_action_controller.cpp.

void shadowrobot::JointTrajectoryActionController::execute_trajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr &  goal)
private
void shadowrobot::JointTrajectoryActionController::execute_trajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr &  goal)
private

Definition at line 275 of file joint_spline_trajectory_action_controller.cpp.

bool shadowrobot::JointTrajectoryActionController::getPosition ( std::string  joint_name,
double &  position 
)
private

Definition at line 259 of file joint_spline_trajectory_action_controller.cpp.

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

Definition at line 592 of file joint_spline_trajectory_action_controller.cpp.

void shadowrobot::JointTrajectoryActionController::updateJointState ( )
private

Definition at line 241 of file joint_spline_trajectory_action_controller.cpp.

Member Data Documentation

boost::shared_ptr< JTAS > shadowrobot::JointTrajectoryActionController::action_server
private

Definition at line 66 of file joint_spline_trajectory_action_controller.hpp.

ros::Subscriber shadowrobot::JointTrajectoryActionController::command_sub
private

Definition at line 51 of file joint_spline_trajectory_action_controller.hpp.

std::vector<ros::Publisher> shadowrobot::JointTrajectoryActionController::controller_publishers
private

Definition at line 59 of file joint_spline_trajectory_action_controller.hpp.

ros::Publisher shadowrobot::JointTrajectoryActionController::desired_joint_state_pusblisher
private

Definition at line 54 of file joint_spline_trajectory_action_controller.hpp.

std::vector<std::string> shadowrobot::JointTrajectoryActionController::joint_names_
private

Definition at line 55 of file joint_spline_trajectory_action_controller.hpp.

JointPubMap shadowrobot::JointTrajectoryActionController::joint_pub
private

Definition at line 52 of file joint_trajectory_action_controller.hpp.

ros::ServiceClient shadowrobot::JointTrajectoryActionController::joint_state_client
private

Definition at line 56 of file joint_spline_trajectory_action_controller.hpp.

std::map<std::string, unsigned int> shadowrobot::JointTrajectoryActionController::joint_state_idx_map
private

Definition at line 62 of file joint_spline_trajectory_action_controller.hpp.

std::map<std::string, double> shadowrobot::JointTrajectoryActionController::joint_state_map
private

Definition at line 57 of file joint_spline_trajectory_action_controller.hpp.

std::map<std::string, std::string> shadowrobot::JointTrajectoryActionController::jointControllerMap
private

Definition at line 60 of file joint_spline_trajectory_action_controller.hpp.

std::map<std::string, unsigned int> shadowrobot::JointTrajectoryActionController::jointPubIdxMap
private

Definition at line 61 of file joint_spline_trajectory_action_controller.hpp.

ros::Time shadowrobot::JointTrajectoryActionController::last_time_
private

Definition at line 65 of file joint_spline_trajectory_action_controller.hpp.

ros::NodeHandle shadowrobot::JointTrajectoryActionController::nh
private

Definition at line 50 of file joint_spline_trajectory_action_controller.hpp.

ros::NodeHandle shadowrobot::JointTrajectoryActionController::nh_tilde
private

Definition at line 50 of file joint_spline_trajectory_action_controller.hpp.

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

Definition at line 86 of file joint_spline_trajectory_action_controller.hpp.

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

Definition at line 86 of file joint_spline_trajectory_action_controller.hpp.

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

Definition at line 86 of file joint_spline_trajectory_action_controller.hpp.

ros::Publisher shadowrobot::JointTrajectoryActionController::sr_arm_target_pub
private

Definition at line 52 of file joint_spline_trajectory_action_controller.hpp.

ros::Publisher shadowrobot::JointTrajectoryActionController::sr_hand_target_pub
private

Definition at line 53 of file joint_spline_trajectory_action_controller.hpp.

bool shadowrobot::JointTrajectoryActionController::use_sendupdate
private

Definition at line 63 of file joint_spline_trajectory_action_controller.hpp.

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

sr_mechanism_controllers
Author(s): Ugo Cupcic
autogenerated on Tue Oct 13 2020 03:55:58