ControlHead Class Reference

Public Member Functions
void	cancelCB (GoalHandle gh)
	ControlHead (const ros::NodeHandle &node)
void	controllerStateCB (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &msg)
void	goalCB (GoalHandle gh)
void	watchdog (const ros::TimerEvent &e)

Public Attributes
pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr	last_controller_state_

Private Types
typedef PHAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer< pr2_controllers_msgs::PointHeadAction >	PHAS

Private Attributes
std::string	action_name_
PHAS	action_server_
GoalHandle	active_goal_
KDL::Chain	chain_
ros::ServiceClient	cli_query_traj_
ros::Subscriber	command_sub_
std::string	default_pointing_frame_
bool	has_active_goal_
boost::scoped_ptr< KDL::ChainJntToJacSolver >	jac_solver_
std::vector< std::string >	joint_names_
ros::NodeHandle	nh_
std::string	node_name_
std::string	pan_link_
std::string	pan_parent_
ros::NodeHandle	pnh_
tf::Vector3	pointing_axis_
std::string	pointing_frame_
boost::scoped_ptr< KDL::ChainFkSolverPos >	pose_solver_
ros::Publisher	pub_controller_command_
std::string	root_
ros::Subscriber	sub_controller_state_
double	success_angle_threshold_
geometry_msgs::PointStamped	target_
tf::Stamped< tf::Point >	target_in_pan_
tf::Point	target_in_root_
tf::TransformListener	tfl_
std::string	tip_
KDL::Tree	tree_
urdf::Model	urdf_model_
ros::Timer	watchdog_timer_

Detailed Description

Definition at line 77 of file pr2_point_frame.cpp.

Member Typedef Documentation

typedef PHAS::GoalHandle ControlHead::GoalHandle

private

Definition at line 81 of file pr2_point_frame.cpp.

typedef actionlib::ActionServer<pr2_controllers_msgs::PointHeadAction> ControlHead::PHAS

private

Definition at line 80 of file pr2_point_frame.cpp.

Constructor & Destructor Documentation

ControlHead::ControlHead ( const ros::NodeHandle &  node )

inline

Definition at line 120 of file pr2_point_frame.cpp.

Member Function Documentation

void ControlHead::cancelCB ( GoalHandle  gh )

inline

Definition at line 469 of file pr2_point_frame.cpp.

void ControlHead::controllerStateCB ( const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &  msg )

inline

Todo:

Support frames that are not the pan link itself

Definition at line 485 of file pr2_point_frame.cpp.

void ControlHead::goalCB ( GoalHandle  gh )

inline

Definition at line 168 of file pr2_point_frame.cpp.

void ControlHead::watchdog ( const ros::TimerEvent &  e )

inline

Definition at line 434 of file pr2_point_frame.cpp.

Member Data Documentation

std::string ControlHead::action_name_

private

Definition at line 84 of file pr2_point_frame.cpp.

PHAS ControlHead::action_server_

private

Definition at line 100 of file pr2_point_frame.cpp.

GoalHandle ControlHead::active_goal_

private

Definition at line 102 of file pr2_point_frame.cpp.

KDL::Chain ControlHead::chain_

private

Definition at line 109 of file pr2_point_frame.cpp.

ros::ServiceClient ControlHead::cli_query_traj_

private

Definition at line 97 of file pr2_point_frame.cpp.

ros::Subscriber ControlHead::command_sub_

private

Definition at line 96 of file pr2_point_frame.cpp.

std::string ControlHead::default_pointing_frame_

private

Definition at line 88 of file pr2_point_frame.cpp.

bool ControlHead::has_active_goal_

private

Definition at line 101 of file pr2_point_frame.cpp.

boost::scoped_ptr<KDL::ChainJntToJacSolver> ControlHead::jac_solver_

private

Definition at line 113 of file pr2_point_frame.cpp.

std::vector< std::string> ControlHead::joint_names_

private

Definition at line 91 of file pr2_point_frame.cpp.

pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr ControlHead::last_controller_state_

Definition at line 484 of file pr2_point_frame.cpp.

ros::NodeHandle ControlHead::nh_

private

Definition at line 93 of file pr2_point_frame.cpp.

std::string ControlHead::node_name_

private

Definition at line 83 of file pr2_point_frame.cpp.

std::string ControlHead::pan_link_

private

Definition at line 87 of file pr2_point_frame.cpp.

std::string ControlHead::pan_parent_

private

Definition at line 104 of file pr2_point_frame.cpp.

ros::NodeHandle ControlHead::pnh_

private

Definition at line 93 of file pr2_point_frame.cpp.

tf::Vector3 ControlHead::pointing_axis_

private

Definition at line 90 of file pr2_point_frame.cpp.

std::string ControlHead::pointing_frame_

private

Definition at line 89 of file pr2_point_frame.cpp.

boost::scoped_ptr<KDL::ChainFkSolverPos> ControlHead::pose_solver_

private

Definition at line 112 of file pr2_point_frame.cpp.

ros::Publisher ControlHead::pub_controller_command_

private

Definition at line 94 of file pr2_point_frame.cpp.

std::string ControlHead::root_

private

Definition at line 85 of file pr2_point_frame.cpp.

ros::Subscriber ControlHead::sub_controller_state_

private

Definition at line 95 of file pr2_point_frame.cpp.

double ControlHead::success_angle_threshold_

private

Definition at line 105 of file pr2_point_frame.cpp.

geometry_msgs::PointStamped ControlHead::target_

private

Definition at line 107 of file pr2_point_frame.cpp.

tf::Stamped<tf::Point> ControlHead::target_in_pan_

private

Definition at line 103 of file pr2_point_frame.cpp.

tf::Point ControlHead::target_in_root_

private

Definition at line 110 of file pr2_point_frame.cpp.

tf::TransformListener ControlHead::tfl_

private

Definition at line 115 of file pr2_point_frame.cpp.

std::string ControlHead::tip_

private

Definition at line 86 of file pr2_point_frame.cpp.

KDL::Tree ControlHead::tree_

private

Definition at line 108 of file pr2_point_frame.cpp.

urdf::Model ControlHead::urdf_model_

private

Definition at line 116 of file pr2_point_frame.cpp.

ros::Timer ControlHead::watchdog_timer_

private

Definition at line 98 of file pr2_point_frame.cpp.

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

• pr2_point_frame.cpp