#include <base_module.h>
Public Member Functions | |
BaseModule () | |
void | initialize (const int control_cycle_msec, robotis_framework::Robot *robot) |
void | initPoseMsgCallback (const std_msgs::String::ConstPtr &msg) |
void | initPoseTrajGenerateProc () |
bool | isRunning () |
void | poseGenerateProc (Eigen::MatrixXd joint_angle_pose) |
void | poseGenerateProc (std::map< std::string, double > &joint_angle_pose) |
void | process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors) |
void | stop () |
virtual | ~BaseModule () |
Public Member Functions inherited from robotis_framework::MotionModule | |
ControlMode | getControlMode () |
bool | getModuleEnable () |
std::string | getModuleName () |
virtual void | onModuleDisable () |
virtual void | onModuleEnable () |
void | setModuleEnable (bool enable) |
virtual | ~MotionModule () |
Public Attributes | |
BaseModuleState * | base_module_state_ |
BaseJointState * | joint_state_ |
Public Attributes inherited from robotis_framework::MotionModule | |
std::map< std::string, DynamixelState * > | result_ |
Private Member Functions | |
void | parseIniPoseData (const std::string &path) |
void | publishDoneMsg (const std::string done_msg) |
void | publishStatusMsg (unsigned int type, std::string msg) |
void | queueThread () |
void | setCtrlModule (std::string module) |
Private Attributes | |
int | control_cycle_msec_ |
bool | has_goal_joints_ |
bool | ini_pose_only_ |
std::map< std::string, int > | joint_name_to_id_ |
ros::Publisher | movement_done_pub_ |
boost::thread | queue_thread_ |
ros::Publisher | set_ctrl_module_pub_ |
ros::Publisher | status_msg_pub_ |
boost::thread | tra_gene_tread_ |
Additional Inherited Members | |
Static Public Member Functions inherited from robotis_framework::Singleton< BaseModule > | |
static void | destroyInstance () |
static T * | getInstance () |
Protected Member Functions inherited from robotis_framework::Singleton< BaseModule > | |
Singleton & | operator= (Singleton const &) |
Singleton (Singleton const &) | |
Singleton () | |
Protected Attributes inherited from robotis_framework::MotionModule | |
ControlMode | control_mode_ |
bool | enable_ |
std::string | module_name_ |
Definition at line 71 of file base_module.h.
BaseModule::BaseModule | ( | ) |
Definition at line 34 of file base_module.cpp.
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virtual |
Definition at line 130 of file base_module.cpp.
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virtual |
Implements robotis_framework::MotionModule.
Definition at line 135 of file base_module.cpp.
void BaseModule::initPoseMsgCallback | ( | const std_msgs::String::ConstPtr & | msg | ) |
Definition at line 238 of file base_module.cpp.
void BaseModule::initPoseTrajGenerateProc | ( | ) |
Definition at line 265 of file base_module.cpp.
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virtual |
Implements robotis_framework::MotionModule.
Definition at line 377 of file base_module.cpp.
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private |
Definition at line 149 of file base_module.cpp.
void BaseModule::poseGenerateProc | ( | Eigen::MatrixXd | joint_angle_pose | ) |
Definition at line 299 of file base_module.cpp.
void BaseModule::poseGenerateProc | ( | std::map< std::string, double > & | joint_angle_pose | ) |
Definition at line 331 of file base_module.cpp.
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virtual |
Implements robotis_framework::MotionModule.
Definition at line 382 of file base_module.cpp.
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private |
Definition at line 478 of file base_module.cpp.
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private |
Definition at line 467 of file base_module.cpp.
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private |
Definition at line 221 of file base_module.cpp.
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private |
Definition at line 459 of file base_module.cpp.
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virtual |
Implements robotis_framework::MotionModule.
Definition at line 454 of file base_module.cpp.
BaseModuleState* thormang3::BaseModule::base_module_state_ |
Definition at line 94 of file base_module.h.
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private |
Definition at line 105 of file base_module.h.
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private |
Definition at line 117 of file base_module.h.
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private |
Definition at line 118 of file base_module.h.
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private |
Definition at line 115 of file base_module.h.
BaseJointState* thormang3::BaseModule::joint_state_ |
Definition at line 95 of file base_module.h.
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private |
Definition at line 113 of file base_module.h.
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private |
Definition at line 107 of file base_module.h.
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private |
Definition at line 112 of file base_module.h.
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private |
Definition at line 111 of file base_module.h.
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private |
Definition at line 108 of file base_module.h.