#include <manipulation_module.h>

Inheritance diagram for thormang3::ManipulationModule:

Public Member Functions
bool	getJointPoseCallback (thormang3_manipulation_module_msgs::GetJointPose::Request &req, thormang3_manipulation_module_msgs::GetJointPose::Response &res)

bool	getKinematicsPoseCallback (thormang3_manipulation_module_msgs::GetKinematicsPose::Request &req, thormang3_manipulation_module_msgs::GetKinematicsPose::Response &res)

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

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

void	initPoseTrajGenerateProc ()

bool	isRunning ()

void	jointPoseMsgCallback (const thormang3_manipulation_module_msgs::JointPose::ConstPtr &msg)

void	jointTrajGenerateProc ()

void	kinematicsPoseMsgCallback (const thormang3_manipulation_module_msgs::KinematicsPose::ConstPtr &msg)

	ManipulationModule ()

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

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

void	stop ()

void	taskTrajGenerateProc ()

virtual	~ManipulationModule ()

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
KinematicsDynamics *	robotis_

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

Private Member Functions
void	parseData (const std::string &path)

void	parseIniPoseData (const std::string &path)

void	queueThread ()

void	setInverseKinematics (int cnt, Eigen::MatrixXd start_rotation)

Private Attributes
int	all_time_steps_

bool	arm_angle_display_

int	cnt_

double	control_cycle_sec_

thormang3_manipulation_module_msgs::JointPose	goal_joint_pose_msg_

Eigen::VectorXd	goal_joint_position_

Eigen::MatrixXd	goal_joint_tra_

thormang3_manipulation_module_msgs::KinematicsPose	goal_kinematics_pose_msg_

Eigen::MatrixXd	goal_task_tra_

int	ik_id_end_

int	ik_id_start_

bool	ik_solving_

Eigen::MatrixXd	ik_start_rotation_

Eigen::MatrixXd	ik_target_position_

Eigen::MatrixXd	ik_target_rotation_

Eigen::MatrixXd	ik_weight_

Eigen::VectorXd	init_joint_position_

bool	is_moving_

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

double	mov_time_

std_msgs::String	movement_done_msg_

ros::Publisher	movement_done_pub_

Eigen::VectorXd	present_joint_position_

boost::thread	queue_thread_

ros::Publisher	status_msg_pub_

boost::thread *	traj_generate_tread_

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

static T *	getInstance ()

Protected Member Functions inherited from robotis_framework::Singleton< ManipulationModule >
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 56 of file manipulation_module.h.

Constructor & Destructor Documentation

ManipulationModule::ManipulationModule ( )

Definition at line 28 of file manipulation_module.cpp.

ManipulationModule::~ManipulationModule ( )

virtual

Definition at line 91 of file manipulation_module.cpp.

Member Function Documentation

bool ManipulationModule::getJointPoseCallback	(	thormang3_manipulation_module_msgs::GetJointPose::Request &	req,
		thormang3_manipulation_module_msgs::GetJointPose::Response &	res
	)

Definition at line 220 of file manipulation_module.cpp.

bool ManipulationModule::getKinematicsPoseCallback	(	thormang3_manipulation_module_msgs::GetKinematicsPose::Request &	req,
		thormang3_manipulation_module_msgs::GetKinematicsPose::Response &	res
	)

Definition at line 238 of file manipulation_module.cpp.

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

virtual

Implements robotis_framework::MotionModule.

Definition at line 96 of file manipulation_module.cpp.

void ManipulationModule::initPoseMsgCallback ( const std_msgs::String::ConstPtr & msg )

Definition at line 193 of file manipulation_module.cpp.

void ManipulationModule::initPoseTrajGenerateProc ( )

Definition at line 332 of file manipulation_module.cpp.

bool ManipulationModule::isRunning ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 623 of file manipulation_module.cpp.

void ManipulationModule::jointPoseMsgCallback ( const thormang3_manipulation_module_msgs::JointPose::ConstPtr & msg )

Definition at line 314 of file manipulation_module.cpp.

void ManipulationModule::jointTrajGenerateProc ( )

Definition at line 353 of file manipulation_module.cpp.

void ManipulationModule::kinematicsPoseMsgCallback ( const thormang3_manipulation_module_msgs::KinematicsPose::ConstPtr & msg )

Definition at line 271 of file manipulation_module.cpp.

void ManipulationModule::parseData ( const std::string & path )

private

Definition at line 113 of file manipulation_module.cpp.

void ManipulationModule::parseIniPoseData ( const std::string & path )

private

Definition at line 136 of file manipulation_module.cpp.

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

virtual

Implements robotis_framework::MotionModule.

Definition at line 479 of file manipulation_module.cpp.

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

Definition at line 628 of file manipulation_module.cpp.

void ManipulationModule::queueThread ( )

private

Definition at line 167 of file manipulation_module.cpp.

void ManipulationModule::setInverseKinematics	(	int	cnt,
		Eigen::MatrixXd	start_rotation
	)

private

Definition at line 460 of file manipulation_module.cpp.

void ManipulationModule::stop ( )

virtual

Implements robotis_framework::MotionModule.

Definition at line 614 of file manipulation_module.cpp.

void ManipulationModule::taskTrajGenerateProc ( )

Definition at line 405 of file manipulation_module.cpp.

Member Data Documentation

int thormang3::ManipulationModule::all_time_steps_

private

Definition at line 115 of file manipulation_module.h.

bool thormang3::ManipulationModule::arm_angle_display_

private

Definition at line 95 of file manipulation_module.h.

int thormang3::ManipulationModule::cnt_

private

Definition at line 114 of file manipulation_module.h.

double thormang3::ManipulationModule::control_cycle_sec_

private

Definition at line 97 of file manipulation_module.h.

thormang3_manipulation_module_msgs::JointPose thormang3::ManipulationModule::goal_joint_pose_msg_

private

Definition at line 121 of file manipulation_module.h.

Eigen::VectorXd thormang3::ManipulationModule::goal_joint_position_

private

Definition at line 108 of file manipulation_module.h.

Eigen::MatrixXd thormang3::ManipulationModule::goal_joint_tra_

private

Definition at line 117 of file manipulation_module.h.

thormang3_manipulation_module_msgs::KinematicsPose thormang3::ManipulationModule::goal_kinematics_pose_msg_

private

Definition at line 122 of file manipulation_module.h.

Eigen::MatrixXd thormang3::ManipulationModule::goal_task_tra_

private

Definition at line 118 of file manipulation_module.h.

int thormang3::ManipulationModule::ik_id_end_

private

Definition at line 127 of file manipulation_module.h.

int thormang3::ManipulationModule::ik_id_start_

private

Definition at line 126 of file manipulation_module.h.

bool thormang3::ManipulationModule::ik_solving_

private

Definition at line 125 of file manipulation_module.h.

Eigen::MatrixXd thormang3::ManipulationModule::ik_start_rotation_

private

Definition at line 130 of file manipulation_module.h.

Eigen::MatrixXd thormang3::ManipulationModule::ik_target_position_

private

Definition at line 129 of file manipulation_module.h.

Eigen::MatrixXd thormang3::ManipulationModule::ik_target_rotation_

private

Definition at line 131 of file manipulation_module.h.

Eigen::MatrixXd thormang3::ManipulationModule::ik_weight_

private

Definition at line 132 of file manipulation_module.h.

Eigen::VectorXd thormang3::ManipulationModule::init_joint_position_

private

Definition at line 109 of file manipulation_module.h.

bool thormang3::ManipulationModule::is_moving_

private

Definition at line 112 of file manipulation_module.h.

std::map<std::string, int> thormang3::ManipulationModule::joint_name_to_id_

private

Definition at line 136 of file manipulation_module.h.

double thormang3::ManipulationModule::mov_time_

private

Definition at line 113 of file manipulation_module.h.

std_msgs::String thormang3::ManipulationModule::movement_done_msg_

private

Definition at line 101 of file manipulation_module.h.

ros::Publisher thormang3::ManipulationModule::movement_done_pub_

private

Definition at line 104 of file manipulation_module.h.

Eigen::VectorXd thormang3::ManipulationModule::present_joint_position_

private

Definition at line 107 of file manipulation_module.h.

boost::thread thormang3::ManipulationModule::queue_thread_

private

Definition at line 98 of file manipulation_module.h.

KinematicsDynamics* thormang3::ManipulationModule::robotis_

Definition at line 87 of file manipulation_module.h.

ros::Publisher thormang3::ManipulationModule::status_msg_pub_

private

Definition at line 103 of file manipulation_module.h.

boost::thread* thormang3::ManipulationModule::traj_generate_tread_

private

Definition at line 99 of file manipulation_module.h.

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

Public Member Functions

Public Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation