katana_gazebo_plugins::KatanaGripperGraspController Class Reference

#include <katana_gripper_grasp_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperGraspController:

Public Member Functions
void	cancelGoal ()
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
GRKAPoint	getNextDesiredPoint (ros::Time time)
bool	hasActiveGoal () const
	KatanaGripperGraspController (ros::NodeHandle private_nodehandle)
void	setCurrentPoint (GRKAPoint point)
virtual	~KatanaGripperGraspController ()
Public Member Functions inherited from katana_gazebo_plugins::IGazeboRosKatanaGripperAction
virtual void	setCurrentPoint (double pos, double vel)
virtual	~IGazeboRosKatanaGripperAction ()

Private Member Functions
void	executeCB (const control_msgs::GripperCommandGoalConstPtr &goal)
bool	serviceCallback (control_msgs::QueryTrajectoryState::Request &request, control_msgs::QueryTrajectoryState::Response &response)
void	setDesiredAngle (double desired_angle)

Private Attributes
actionlib::SimpleActionServer< control_msgs::GripperCommandAction > *	action_server_
	Action server for the grasp posture action. More...
double	current_angle_
double	desired_angle_
double	goal_threshold_
double	gripper_object_presence_threshold_
	A joint angle below this value indicates there is nothing inside the gripper. More...
bool	has_new_desired_angle_
ros::ServiceServer	query_srv_
	Server for the posture query service. More...

Detailed Description

Definition at line 42 of file katana_gripper_grasp_controller.h.

Constructor & Destructor Documentation

katana_gazebo_plugins::KatanaGripperGraspController::KatanaGripperGraspController

(

ros::NodeHandle

private_nodehandle

)

Definition at line 44 of file katana_gripper_grasp_controller.cpp.

katana_gazebo_plugins::KatanaGripperGraspController::~KatanaGripperGraspController ( )

virtual

Definition at line 62 of file katana_gripper_grasp_controller.cpp.

Member Function Documentation

void katana_gazebo_plugins::KatanaGripperGraspController::cancelGoal ( )

inlinevirtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 70 of file katana_gripper_grasp_controller.h.

void katana_gazebo_plugins::KatanaGripperGraspController::executeCB ( const control_msgs::GripperCommandGoalConstPtr &  goal )

private

Definition at line 67 of file katana_gripper_grasp_controller.cpp.

void katana_gazebo_plugins::KatanaGripperGraspController::getGains ( double &  p, double &  i, double &  d, double &  i_max, double &  i_min  )

virtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 108 of file katana_gripper_grasp_controller.cpp.

GRKAPoint katana_gazebo_plugins::KatanaGripperGraspController::getNextDesiredPoint ( ros::Time  time )

inlinevirtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 48 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::hasActiveGoal ( ) const

inlinevirtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 63 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::serviceCallback ( control_msgs::QueryTrajectoryState::Request &  request, control_msgs::QueryTrajectoryState::Response &  response  )

private

Definition at line 100 of file katana_gripper_grasp_controller.cpp.

void katana_gazebo_plugins::KatanaGripperGraspController::setCurrentPoint ( GRKAPoint  point )

inlinevirtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 58 of file katana_gripper_grasp_controller.h.

void katana_gazebo_plugins::KatanaGripperGraspController::setDesiredAngle ( double  desired_angle )

inlineprivate

Definition at line 90 of file katana_gripper_grasp_controller.h.

Member Data Documentation

actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* katana_gazebo_plugins::KatanaGripperGraspController::action_server_

private

Action server for the grasp posture action.

Definition at line 77 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::current_angle_

private

Definition at line 98 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::desired_angle_

private

Definition at line 97 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::goal_threshold_

private

Definition at line 96 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::gripper_object_presence_threshold_

private

A joint angle below this value indicates there is nothing inside the gripper.

Definition at line 83 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::has_new_desired_angle_

private

Definition at line 99 of file katana_gripper_grasp_controller.h.

ros::ServiceServer katana_gazebo_plugins::KatanaGripperGraspController::query_srv_

private

Server for the posture query service.

Definition at line 80 of file katana_gripper_grasp_controller.h.

---

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

• katana_gripper_grasp_controller.h
• katana_gripper_grasp_controller.cpp