ArmMoveIKAction Class Reference

Public Member Functions
	ArmMoveIKAction (std::string name)
void	executeCB (const pr2_common_action_msgs::ArmMoveIKGoalConstPtr &goal)
int	getJointIndex (const std::string &name)
void	preemptCB ()
	~ArmMoveIKAction (void)

Protected Attributes
std::string	action_name_
std::string	arm_
std::string	arm_controller_
actionlib::SimpleActionServer< pr2_common_action_msgs::ArmMoveIKAction >	as_
int	dimension_
int	free_angle_
KDL::JntArray	jnt_pos_suggestion_
std::string	joint_action_
KDL::Chain	kdl_chain_
ros::NodeHandle	nh_
boost::shared_ptr< pr2_arm_kinematics::PR2ArmIKSolver >	pr2_arm_ik_solver_
pr2_common_action_msgs::ArmMoveIKResult	result_
urdf::Model	robot_model_
std::string	root_name_
double	search_discretization_
tf::TransformListener	tf_
double	timeout_
std::string	tip_name_
actionlib::SimpleActionClient< pr2_controllers_msgs::JointTrajectoryAction > *	trajectory_action_

Detailed Description

Definition at line 50 of file arm_ik.cpp.

Constructor & Destructor Documentation

ArmMoveIKAction::ArmMoveIKAction ( std::string  name )

inline

Definition at line 55 of file arm_ik.cpp.

ArmMoveIKAction::~ArmMoveIKAction ( void  )

inline

Definition at line 141 of file arm_ik.cpp.

Member Function Documentation

void ArmMoveIKAction::executeCB ( const pr2_common_action_msgs::ArmMoveIKGoalConstPtr &  goal )

inline

Definition at line 154 of file arm_ik.cpp.

int ArmMoveIKAction::getJointIndex ( const std::string &  name )

inline

Definition at line 267 of file arm_ik.cpp.

void ArmMoveIKAction::preemptCB ( )

inline

Definition at line 146 of file arm_ik.cpp.

Member Data Documentation

std::string ArmMoveIKAction::action_name_

protected

Definition at line 296 of file arm_ik.cpp.

std::string ArmMoveIKAction::arm_

protected

Definition at line 296 of file arm_ik.cpp.

std::string ArmMoveIKAction::arm_controller_

protected

Definition at line 296 of file arm_ik.cpp.

actionlib::SimpleActionServer<pr2_common_action_msgs::ArmMoveIKAction> ArmMoveIKAction::as_

protected

Definition at line 301 of file arm_ik.cpp.

int ArmMoveIKAction::dimension_

protected

Definition at line 294 of file arm_ik.cpp.

int ArmMoveIKAction::free_angle_

protected

Definition at line 294 of file arm_ik.cpp.

KDL::JntArray ArmMoveIKAction::jnt_pos_suggestion_

protected

Definition at line 299 of file arm_ik.cpp.

std::string ArmMoveIKAction::joint_action_

protected

Definition at line 293 of file arm_ik.cpp.

KDL::Chain ArmMoveIKAction::kdl_chain_

protected

Definition at line 298 of file arm_ik.cpp.

ros::NodeHandle ArmMoveIKAction::nh_

protected

Definition at line 291 of file arm_ik.cpp.

boost::shared_ptr<pr2_arm_kinematics::PR2ArmIKSolver> ArmMoveIKAction::pr2_arm_ik_solver_

protected

Definition at line 304 of file arm_ik.cpp.

pr2_common_action_msgs::ArmMoveIKResult ArmMoveIKAction::result_

protected

Definition at line 307 of file arm_ik.cpp.

urdf::Model ArmMoveIKAction::robot_model_

protected

Definition at line 292 of file arm_ik.cpp.

std::string ArmMoveIKAction::root_name_

protected

Definition at line 296 of file arm_ik.cpp.

double ArmMoveIKAction::search_discretization_

protected

Definition at line 295 of file arm_ik.cpp.

tf::TransformListener ArmMoveIKAction::tf_

protected

Definition at line 305 of file arm_ik.cpp.

double ArmMoveIKAction::timeout_

protected

Definition at line 295 of file arm_ik.cpp.

std::string ArmMoveIKAction::tip_name_

protected

Definition at line 296 of file arm_ik.cpp.

actionlib::SimpleActionClient<pr2_controllers_msgs::JointTrajectoryAction>* ArmMoveIKAction::trajectory_action_

protected

Definition at line 302 of file arm_ik.cpp.

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

• arm_ik.cpp