Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
katana_gazebo_plugins::KatanaGripperJointTrajectoryController Class Reference

#include <katana_gripper_joint_trajectory_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperJointTrajectoryController:
Inheritance graph
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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
 
 KatanaGripperJointTrajectoryController (ros::NodeHandle pn)
 
void setCurrentPoint (GRKAPoint point)
 
virtual ~KatanaGripperJointTrajectoryController ()
 
- Public Member Functions inherited from katana_gazebo_plugins::IGazeboRosKatanaGripperAction
virtual void setCurrentPoint (double pos, double vel)
 
virtual ~IGazeboRosKatanaGripperAction ()
 

Private Types

typedef JTAS::GoalHandle GoalHandle
 
typedef actionlib::ActionServer< control_msgs::JointTrajectoryAction > JTAS
 

Private Member Functions

void cancelCB (GoalHandle gh)
 
void checkGoalStatus ()
 
bool currentIsDesiredAngle ()
 
void goalCB (GoalHandle gh)
 
bool isTrajectoryFinished ()
 
void setCurrentTrajectory (trajectory_msgs::JointTrajectory traj)
 

Static Private Member Functions

static bool setsEqual (const std::vector< std::string > &a, const std::vector< std::string > &b)
 

Private Attributes

JTASaction_server_
 
GoalHandle active_goal_
 
GRKAPoint current_point_
 
trajectory_msgs::JointTrajectory current_traj_
 
std::map< std::string, double > goal_constraints_
 
double goal_time_constraint_
 
bool has_active_goal_
 
std::vector< std::string > joint_names_
 
GRKAPoint last_desired_point_
 
double stopped_velocity_tolerance_
 
std::map< std::string, double > trajectory_constraints_
 
bool trajectory_finished_
 

Detailed Description

This class allows you to send JointTrajectory messages to the Katana Arm simulated in Gazebo

Definition at line 51 of file katana_gripper_joint_trajectory_controller.h.

Member Typedef Documentation

Definition at line 56 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 55 of file katana_gripper_joint_trajectory_controller.h.

Constructor & Destructor Documentation

katana_gazebo_plugins::KatanaGripperJointTrajectoryController::KatanaGripperJointTrajectoryController ( ros::NodeHandle  pn)
katana_gazebo_plugins::KatanaGripperJointTrajectoryController::~KatanaGripperJointTrajectoryController ( )
virtual

Member Function Documentation

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::cancelCB ( GoalHandle  gh)
private
void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::cancelGoal ( )
inlinevirtual
void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::checkGoalStatus ( )
private
bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::currentIsDesiredAngle ( )
private
void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::getGains ( double &  p,
double &  i,
double &  d,
double &  i_max,
double &  i_min 
)
virtual
GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::getNextDesiredPoint ( ros::Time  time)
virtual
void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goalCB ( GoalHandle  gh)
private
bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::hasActiveGoal ( ) const
inlinevirtual

are there any more points?

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 113 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::isTrajectoryFinished ( )
private
void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setCurrentPoint ( GRKAPoint  point)
inlinevirtual
void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setCurrentTrajectory ( trajectory_msgs::JointTrajectory  traj)
private
bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setsEqual ( const std::vector< std::string > &  a,
const std::vector< std::string > &  b 
)
staticprivate

Member Data Documentation

JTAS* katana_gazebo_plugins::KatanaGripperJointTrajectoryController::action_server_
private

Definition at line 65 of file katana_gripper_joint_trajectory_controller.h.

GoalHandle katana_gazebo_plugins::KatanaGripperJointTrajectoryController::active_goal_
private

Definition at line 68 of file katana_gripper_joint_trajectory_controller.h.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::current_point_
private

Definition at line 73 of file katana_gripper_joint_trajectory_controller.h.

trajectory_msgs::JointTrajectory katana_gazebo_plugins::KatanaGripperJointTrajectoryController::current_traj_
private

Definition at line 69 of file katana_gripper_joint_trajectory_controller.h.

std::map<std::string, double> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goal_constraints_
private

Definition at line 77 of file katana_gripper_joint_trajectory_controller.h.

double katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goal_time_constraint_
private

Definition at line 79 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::has_active_goal_
private

Definition at line 67 of file katana_gripper_joint_trajectory_controller.h.

std::vector<std::string> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::joint_names_
private

Definition at line 76 of file katana_gripper_joint_trajectory_controller.h.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::last_desired_point_
private

Definition at line 74 of file katana_gripper_joint_trajectory_controller.h.

double katana_gazebo_plugins::KatanaGripperJointTrajectoryController::stopped_velocity_tolerance_
private

Definition at line 80 of file katana_gripper_joint_trajectory_controller.h.

std::map<std::string, double> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::trajectory_constraints_
private

Definition at line 78 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::trajectory_finished_
private

Definition at line 70 of file katana_gripper_joint_trajectory_controller.h.


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


katana_gazebo_plugins
Author(s): Martin Günther
autogenerated on Fri Jun 7 2019 22:06:34