generic_control_toolbox Namespace Reference

Namespaces
	manage_actionlib

Classes
class	BagManager
class	ControllerActionNode
class	ControllerBase
class	ControllerTemplate
class	KDLManager
class	ManagerBase
class	MarkerManager
class	MatrixParser
class	RosControlInterface
class	WrenchManager

Typedefs
typedef boost::shared_ptr< ControllerBase >	BasePtr

Enumerations
enum	JointType { EFFORT, VELOCITY, POSITION }
enum	MarkerType { sphere, arrow }

Functions
bool	getArmInfo (const std::string &arm_name, ArmInfo &info, ros::NodeHandle &nh)
bool	getArmInfo (const std::string &arm_name, ArmInfo &info)
bool	setKDLManager (const ArmInfo &arm_info, std::shared_ptr< KDLManager > manager)
bool	setKDLManagerNso (const ArmInfo &arm_info, std::shared_ptr< KDLManager > manager)
bool	setWrenchManager (const ArmInfo &arm_info, WrenchManager &manager)
bool	setWrenchManager (const ArmInfo &arm_info, std::shared_ptr< WrenchManager > &manager)

Variables
const double	MAX_DT = 0.5

Typedef Documentation

typedef boost::shared_ptr<ControllerBase> generic_control_toolbox::BasePtr

Definition at line 344 of file controller_template.hpp.

Enumeration Type Documentation

enum generic_control_toolbox::JointType

Enumerator
EFFORT
VELOCITY
POSITION

Definition at line 11 of file ros_control_interface.hpp.

enum generic_control_toolbox::MarkerType

Enumerator
sphere
arrow

Definition at line 13 of file marker_manager.hpp.

Function Documentation

bool generic_control_toolbox::getArmInfo	(	const std::string &	arm_name,
		ArmInfo &	info,
		ros::NodeHandle &	nh
	)

Fill in an ArmInfo structure with the parameters of the arm. Uses the ros parameter server.

Searches for "arm_name/kdl_eef_frame", "arm_name/gripping_frame", "arm_name/has_state_", "arm_name/sensor_frame" and "arm_name/sensor_topic", relative to the calling node's name.

Parameters

arm_name	The arm name used in the ros parameter server.
info	The ArmInfo structure to fill in.
nh	The ros nodehandle

Returns

True for success, false otherwise

Definition at line 15 of file manager_base.cpp.

bool generic_control_toolbox::getArmInfo	(	const std::string &	arm_name,
		ArmInfo &	info
	)

getArmInfo overload which creates a private nodehandle

Definition at line 8 of file manager_base.cpp.

bool generic_control_toolbox::setKDLManager	(	const ArmInfo &	arm_info,
		std::shared_ptr< KDLManager >	manager
	)

Initializes a kdl manager class with the given arm info. Uses the ros parameter server to obtain information.

Parameters

arm_info	The arm information.
manager	Reference to the kdl manager.

Returns

False if something goes wrong, true otherwise.

Definition at line 1048 of file kdl_manager.cpp.

bool generic_control_toolbox::setKDLManagerNso	(	const ArmInfo &	arm_info,
		std::shared_ptr< KDLManager >	manager
	)

Initializes a kdl manager class with the given arm info. Uses nullspace optimization. Uses the ros parameter server to obtain information.

Parameters

arm_info	The arm information.
manager	Reference to the kdl manager.

Returns

False if something goes wrong, true otherwise.

bool generic_control_toolbox::setWrenchManager	(	const ArmInfo &	arm_info,
		WrenchManager &	manager
	)

Initializes a wrench manager class with the given arm's sensor info. Uses the ros parameter server to obtain information."

Parameters

arm_info	The arm information
manager	Shared pointer to the wrench manager.

Returns

False if something goes wrong, true otherwise.

Definition at line 166 of file wrench_manager.cpp.

bool generic_control_toolbox::setWrenchManager	(	const ArmInfo &	arm_info,
		std::shared_ptr< WrenchManager > &	manager
	)

Definition at line 190 of file wrench_manager.cpp.

Variable Documentation

const double generic_control_toolbox::MAX_DT = 0.5

Definition at line 13 of file controller_template.hpp.