#include <jt_cartesian_controller.h>

Inheritance diagram for controller::JTCartesianController:

Public Member Functions
void	commandPose (const geometry_msgs::PoseStamped::ConstPtr &command)

void	commandPosture (const std_msgs::Float64MultiArray::ConstPtr &msg)

bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)

	JTCartesianController ()

void	setGains (const std_msgs::Float64MultiArray::ConstPtr &msg)

void	starting ()

void	update ()

	~JTCartesianController ()

Public Member Functions inherited from pr2_controller_interface::Controller
	Controller ()

bool	getController (const std::string &name, int sched, ControllerType *&c)

bool	initRequest (ControllerProvider cp, pr2_mechanism_model::RobotState robot, ros::NodeHandle &n)

bool	isRunning ()

void	starting (const ros::Time &time)

bool	startRequest ()

void	stopping (const ros::Time &time)

virtual void	stopping ()

bool	stopRequest ()

void	update (const ros::Time &time, const ros::Duration &period)

void	updateRequest ()

virtual	~Controller ()

Public Attributes
pr2_mechanism_model::Chain	chain_

	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

double	jacobian_inverse_damping_

JointVec	joint_dd_ff_

double	joint_vel_filter_

double	k_posture_

Eigen::Matrix< double, 6, 1 >	Kd

boost::scoped_ptr< Kin< Joints > >	kin_

Eigen::Matrix< double, 6, 1 >	Kp

Eigen::Affine3d	last_pose_

ros::Time	last_time_

CartVec	last_wrench_

int	loop_count_

ros::NodeHandle	node_

double	pose_command_filter_

realtime_tools::RealtimePublisher< StateMsg >	pub_state_

realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped >	pub_x_desi_

JointVec	q_posture_

JointVec	qdot_filtered_

double	res_force_

double	res_orientation_

double	res_position_

double	res_torque_

pr2_mechanism_model::RobotState *	robot_state_

std::string	root_name_

JointVec	saturation_

ros::Subscriber	sub_gains_

ros::Subscriber	sub_pose_

ros::Subscriber	sub_posture_

tf::TransformListener	tf_

std::string	tip_name_

bool	use_posture_

double	vel_saturation_rot_

double	vel_saturation_trans_

CartVec	wrench_desi_

Eigen::Affine3d	x_desi_

Eigen::Affine3d	x_desi_filtered_

Public Attributes inherited from pr2_controller_interface::Controller
std::vector< std::string >	after_list_

	AFTER_ME

std::vector< std::string >	before_list_

	BEFORE_ME

	CONSTRUCTED

	INITIALIZED

	RUNNING

enum pr2_controller_interface::Controller:: { ... }	state_

Private Types
enum	{ Joints = 7 }

typedef Eigen::Matrix< double, 6, 1 >	CartVec

typedef Eigen::Matrix< double, 6, Joints >	Jacobian

typedef Eigen::Matrix< double, Joints, 1 >	JointVec

typedef robot_mechanism_controllers::JTCartesianControllerState	StateMsg

Detailed Description

Definition at line 100 of file jt_cartesian_controller.h.

Member Typedef Documentation

typedef Eigen::Matrix<double, 6, 1> controller::JTCartesianController::CartVec

private

Definition at line 109 of file jt_cartesian_controller.h.

typedef Eigen::Matrix<double, 6, Joints> controller::JTCartesianController::Jacobian

private

Definition at line 110 of file jt_cartesian_controller.h.

typedef Eigen::Matrix<double, Joints, 1> controller::JTCartesianController::JointVec

private

Definition at line 108 of file jt_cartesian_controller.h.

typedef robot_mechanism_controllers::JTCartesianControllerState controller::JTCartesianController::StateMsg

private

Definition at line 111 of file jt_cartesian_controller.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
Joints

Definition at line 107 of file jt_cartesian_controller.h.

Constructor & Destructor Documentation

controller::JTCartesianController::JTCartesianController ( )

Definition at line 51 of file jt_cartesian_controller.cpp.

controller::JTCartesianController::~JTCartesianController ( )

Definition at line 55 of file jt_cartesian_controller.cpp.

Member Function Documentation

void controller::JTCartesianController::commandPose ( const geometry_msgs::PoseStamped::ConstPtr & command )

inline

Definition at line 190 of file jt_cartesian_controller.h.

void controller::JTCartesianController::commandPosture ( const std_msgs::Float64MultiArray::ConstPtr & msg )

inline

Definition at line 172 of file jt_cartesian_controller.h.

bool controller::JTCartesianController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

virtual

Implements pr2_controller_interface::Controller.

Definition at line 63 of file jt_cartesian_controller.cpp.

void controller::JTCartesianController::setGains ( const std_msgs::Float64MultiArray::ConstPtr & msg )

inline

Definition at line 159 of file jt_cartesian_controller.h.

void controller::JTCartesianController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 174 of file jt_cartesian_controller.cpp.

void controller::JTCartesianController::update ( void )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 200 of file jt_cartesian_controller.cpp.

Member Data Documentation

pr2_mechanism_model::Chain controller::JTCartesianController::chain_

Definition at line 137 of file jt_cartesian_controller.h.

controller::JTCartesianController::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 105 of file jt_cartesian_controller.h.

double controller::JTCartesianController::jacobian_inverse_damping_

Definition at line 145 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::joint_dd_ff_

Definition at line 143 of file jt_cartesian_controller.h.

double controller::JTCartesianController::joint_vel_filter_

Definition at line 144 of file jt_cartesian_controller.h.

double controller::JTCartesianController::k_posture_

Definition at line 147 of file jt_cartesian_controller.h.

Eigen::Matrix<double,6,1> controller::JTCartesianController::Kd

Definition at line 139 of file jt_cartesian_controller.h.

boost::scoped_ptr<Kin<Joints> > controller::JTCartesianController::kin_

Definition at line 138 of file jt_cartesian_controller.h.

Eigen::Matrix<double,6,1> controller::JTCartesianController::Kp

Definition at line 139 of file jt_cartesian_controller.h.

Eigen::Affine3d controller::JTCartesianController::last_pose_

Definition at line 154 of file jt_cartesian_controller.h.

ros::Time controller::JTCartesianController::last_time_

Definition at line 133 of file jt_cartesian_controller.h.

CartVec controller::JTCartesianController::last_wrench_

Definition at line 155 of file jt_cartesian_controller.h.

int controller::JTCartesianController::loop_count_

Definition at line 134 of file jt_cartesian_controller.h.

ros::NodeHandle controller::JTCartesianController::node_

Definition at line 123 of file jt_cartesian_controller.h.

double controller::JTCartesianController::pose_command_filter_

Definition at line 140 of file jt_cartesian_controller.h.

realtime_tools::RealtimePublisher<StateMsg> controller::JTCartesianController::pub_state_

Definition at line 129 of file jt_cartesian_controller.h.

realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> controller::JTCartesianController::pub_x_desi_

Definition at line 130 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::q_posture_

Definition at line 146 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::qdot_filtered_

Definition at line 157 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_force_

Definition at line 151 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_orientation_

Definition at line 152 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_position_

Definition at line 151 of file jt_cartesian_controller.h.

double controller::JTCartesianController::res_torque_

Definition at line 152 of file jt_cartesian_controller.h.

pr2_mechanism_model::RobotState* controller::JTCartesianController::robot_state_

Definition at line 135 of file jt_cartesian_controller.h.

std::string controller::JTCartesianController::root_name_

Definition at line 132 of file jt_cartesian_controller.h.

JointVec controller::JTCartesianController::saturation_

Definition at line 142 of file jt_cartesian_controller.h.

ros::Subscriber controller::JTCartesianController::sub_gains_

Definition at line 124 of file jt_cartesian_controller.h.

ros::Subscriber controller::JTCartesianController::sub_pose_

Definition at line 126 of file jt_cartesian_controller.h.

ros::Subscriber controller::JTCartesianController::sub_posture_

Definition at line 125 of file jt_cartesian_controller.h.

tf::TransformListener controller::JTCartesianController::tf_

Definition at line 127 of file jt_cartesian_controller.h.

std::string controller::JTCartesianController::tip_name_

Definition at line 132 of file jt_cartesian_controller.h.

bool controller::JTCartesianController::use_posture_

Definition at line 148 of file jt_cartesian_controller.h.

double controller::JTCartesianController::vel_saturation_rot_

Definition at line 141 of file jt_cartesian_controller.h.

double controller::JTCartesianController::vel_saturation_trans_

Definition at line 141 of file jt_cartesian_controller.h.

CartVec controller::JTCartesianController::wrench_desi_

Definition at line 121 of file jt_cartesian_controller.h.

Eigen::Affine3d controller::JTCartesianController::x_desi_

Definition at line 120 of file jt_cartesian_controller.h.

Eigen::Affine3d controller::JTCartesianController::x_desi_filtered_

Definition at line 120 of file jt_cartesian_controller.h.

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

Public Member Functions

Public Attributes

Private Types

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation