#include <head_control_module.h>

Inheritance diagram for thormang3::HeadControlModule:

Public Member Functions
	HeadControlModule ()

void	initialize (const int control_cycle_msec, robotis_framework::Robot *robot)

bool	isRunning ()

void	process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors)

void	stop ()

virtual	~HeadControlModule ()

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 ()

Private Types
enum	HeadLidarMode { None, BeforeStart, StartMove, EndMove, AfterMove, ModeCount }

Private Member Functions
void	afterMoveLidar ()

void	beforeMoveLidar (double start_angle)

Eigen::MatrixXd	calcLinearInterpolationTra (double pos_start, double pos_end, double smp_time, double mov_time)

Eigen::MatrixXd	calcMinimumJerkTraPVA (double pos_start, double vel_start, double accel_start, double pos_end, double vel_end, double accel_end, double smp_time, double mov_time)

void	finishMoving ()

void	get3DLidarCallback (const std_msgs::String::ConstPtr &msg)

void	get3DLidarRangeCallback (const std_msgs::Float64::ConstPtr &msg)

void	jointTraGeneThread ()

void	lidarJointTraGeneThread ()

void	publishDoneMsg (const std::string done_msg)

void	publishLidarMoveMsg (std::string msg_data)

void	publishStatusMsg (unsigned int type, std::string msg)

void	queueThread ()

void	setHeadJointCallback (const sensor_msgs::JointState::ConstPtr &msg)

void	setHeadJointTimeCallback (const thormang3_head_control_module_msgs::HeadJointPose::ConstPtr &msg)

void	startMoveLidar (double target_angle)

void	startMoving ()

void	stopMoving ()

Private Attributes
Eigen::MatrixXd	calc_joint_accel_tra_

Eigen::MatrixXd	calc_joint_tra_

Eigen::MatrixXd	calc_joint_vel_tra_

int	control_cycle_msec_

Eigen::MatrixXd	current_position_

int	current_state_

const bool	DEBUG

Eigen::MatrixXd	goal_acceleration_

Eigen::MatrixXd	goal_position_

Eigen::MatrixXd	goal_velocity_

bool	is_direct_control_

bool	is_moving_

ros::Publisher	movement_done_pub_

ros::Publisher	moving_head_pub_

double	moving_time_

double	original_position_lidar_

boost::thread	queue_thread_

const double	SCAN_END_ANGLE = 85 * M_PI / 180

double	scan_range_

const double	SCAN_START_ANGLE = -10 * M_PI / 180

ros::Publisher	status_msg_pub_

bool	stop_process_

Eigen::MatrixXd	target_position_

int	tra_count_

boost::thread *	tra_gene_thread_

boost::mutex	tra_lock_

int	tra_size_

std::map< std::string, int >	using_joint_name_

Additional Inherited Members
Static Public Member Functions inherited from robotis_framework::Singleton< HeadControlModule >
static void	destroyInstance ()

static T *	getInstance ()

Public Attributes inherited from robotis_framework::MotionModule
std::map< std::string, DynamixelState * >	result_

Protected Member Functions inherited from robotis_framework::Singleton< HeadControlModule >
Singleton &	operator= (Singleton const &)

	Singleton (Singleton const &)

	Singleton ()

Protected Attributes inherited from robotis_framework::MotionModule
ControlMode	control_mode_

bool	enable_

std::string	module_name_

Detailed Description

Definition at line 45 of file head_control_module.h.

Member Enumeration Documentation

enum thormang3::HeadControlModule::HeadLidarMode

private

Enumerator
None
BeforeStart
StartMove
EndMove
AfterMove
ModeCount

Definition at line 116 of file head_control_module.h.

Constructor & Destructor Documentation

HeadControlModule::HeadControlModule ( )

Definition at line 29 of file head_control_module.cpp.

HeadControlModule::~HeadControlModule ( )

virtual

Definition at line 61 of file head_control_module.cpp.

Member Function Documentation

void HeadControlModule::afterMoveLidar ( )

private

Definition at line 517 of file head_control_module.cpp.

void HeadControlModule::beforeMoveLidar ( double start_angle )

private

Definition at line 465 of file head_control_module.cpp.

Eigen::MatrixXd HeadControlModule::calcLinearInterpolationTra	(	double	pos_start,
		double	pos_end,
		double	smp_time,
		double	mov_time
	)

private

Definition at line 610 of file head_control_module.cpp.

Eigen::MatrixXd HeadControlModule::calcMinimumJerkTraPVA	(	double	pos_start,
		double	vel_start,
		double	accel_start,
		double	pos_end,
		double	vel_end,
		double	accel_end,
		double	smp_time,
		double	mov_time
	)

private

Definition at line 563 of file head_control_module.cpp.

void HeadControlModule::finishMoving ( )

private

Definition at line 391 of file head_control_module.cpp.

void HeadControlModule::get3DLidarCallback ( const std_msgs::String::ConstPtr & msg )

private

Definition at line 103 of file head_control_module.cpp.

void HeadControlModule::get3DLidarRangeCallback ( const std_msgs::Float64::ConstPtr & msg )

private

Definition at line 131 of file head_control_module.cpp.

void HeadControlModule::initialize	(	const int	control_cycle_msec,
		robotis_framework::Robot *	robot
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 66 of file head_control_module.cpp.

bool HeadControlModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 371 of file head_control_module.cpp.

void HeadControlModule::jointTraGeneThread ( )

private

Definition at line 625 of file head_control_module.cpp.

void HeadControlModule::lidarJointTraGeneThread ( )

private

Definition at line 668 of file head_control_module.cpp.

void HeadControlModule::process	(	std::map< std::string, robotis_framework::Dynamixel * >	dxls,
		std::map< std::string, double >	sensors
	)

virtual

Implements robotis_framework::MotionModule.

Definition at line 292 of file head_control_module.cpp.

void HeadControlModule::publishDoneMsg ( const std::string done_msg )

private

Definition at line 714 of file head_control_module.cpp.

void HeadControlModule::publishLidarMoveMsg ( std::string msg_data )

private

Definition at line 537 of file head_control_module.cpp.

void HeadControlModule::publishStatusMsg	(	unsigned int	type,
		std::string	msg
	)

private

Definition at line 703 of file head_control_module.cpp.

void HeadControlModule::queueThread ( )

private

Definition at line 81 of file head_control_module.cpp.

void HeadControlModule::setHeadJointCallback ( const sensor_msgs::JointState::ConstPtr & msg )

private

Definition at line 160 of file head_control_module.cpp.

void HeadControlModule::setHeadJointTimeCallback ( const thormang3_head_control_module_msgs::HeadJointPose::ConstPtr & msg )

private

Definition at line 226 of file head_control_module.cpp.

void HeadControlModule::startMoveLidar ( double target_angle )

private

Definition at line 491 of file head_control_module.cpp.

void HeadControlModule::startMoving ( )

private

Definition at line 376 of file head_control_module.cpp.

void HeadControlModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 359 of file head_control_module.cpp.

void HeadControlModule::stopMoving ( )

private

Definition at line 440 of file head_control_module.cpp.

Member Data Documentation

Eigen::MatrixXd thormang3::HeadControlModule::calc_joint_accel_tra_

private

Definition at line 112 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::calc_joint_tra_

private

Definition at line 110 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::calc_joint_vel_tra_

private

Definition at line 111 of file head_control_module.h.

int thormang3::HeadControlModule::control_cycle_msec_

private

Definition at line 88 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::current_position_

private

Definition at line 106 of file head_control_module.h.

int thormang3::HeadControlModule::current_state_

private

Definition at line 101 of file head_control_module.h.

const bool thormang3::HeadControlModule::DEBUG

private

Definition at line 95 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::goal_acceleration_

private

Definition at line 109 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::goal_position_

private

Definition at line 107 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::goal_velocity_

private

Definition at line 108 of file head_control_module.h.

bool thormang3::HeadControlModule::is_direct_control_

private

Definition at line 98 of file head_control_module.h.

bool thormang3::HeadControlModule::is_moving_

private

Definition at line 97 of file head_control_module.h.

ros::Publisher thormang3::HeadControlModule::movement_done_pub_

private

Definition at line 94 of file head_control_module.h.

ros::Publisher thormang3::HeadControlModule::moving_head_pub_

private

Definition at line 92 of file head_control_module.h.

double thormang3::HeadControlModule::moving_time_

private

Definition at line 100 of file head_control_module.h.

double thormang3::HeadControlModule::original_position_lidar_

private

Definition at line 102 of file head_control_module.h.

boost::thread thormang3::HeadControlModule::queue_thread_

private

Definition at line 89 of file head_control_module.h.

const double thormang3::HeadControlModule::SCAN_END_ANGLE = 85 * M_PI / 180

private

Definition at line 59 of file head_control_module.h.

double thormang3::HeadControlModule::scan_range_

private

Definition at line 103 of file head_control_module.h.

const double thormang3::HeadControlModule::SCAN_START_ANGLE = -10 * M_PI / 180

private

Definition at line 58 of file head_control_module.h.

ros::Publisher thormang3::HeadControlModule::status_msg_pub_

private

Definition at line 93 of file head_control_module.h.

bool thormang3::HeadControlModule::stop_process_

private

Definition at line 96 of file head_control_module.h.

Eigen::MatrixXd thormang3::HeadControlModule::target_position_

private

Definition at line 105 of file head_control_module.h.

int thormang3::HeadControlModule::tra_count_

private

Definition at line 99 of file head_control_module.h.

boost::thread* thormang3::HeadControlModule::tra_gene_thread_

private

Definition at line 90 of file head_control_module.h.

boost::mutex thormang3::HeadControlModule::tra_lock_

private

Definition at line 91 of file head_control_module.h.

int thormang3::HeadControlModule::tra_size_

private

Definition at line 99 of file head_control_module.h.

std::map<std::string, int> thormang3::HeadControlModule::using_joint_name_

private

Definition at line 114 of file head_control_module.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation