#include <joint_spline_trajectory_controller.h>

Inheritance diagram for controller::JointSplineTrajectoryController:

Classes
struct	Segment

struct	Spline

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

	JointSplineTrajectoryController ()

void	starting ()

void	update ()

	~JointSplineTrajectoryController ()

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 ()

Private Types
typedef std::vector< Segment >	SpecifiedTrajectory

Private Member Functions
void	commandCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)

bool	queryStateService (pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)

Static Private Member Functions
static void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)

Private Attributes
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState > >	controller_state_publisher_

realtime_tools::RealtimeBox< boost::shared_ptr< const SpecifiedTrajectory > >	current_trajectory_box_

std::vector< pr2_mechanism_model::JointState * >	joints_

ros::Time	last_time_

int	loop_count_

ros::NodeHandle	node_

std::vector< control_toolbox::Pid >	pids_

std::vector< double >	q

std::vector< double >	qd

std::vector< double >	qdd

pr2_mechanism_model::RobotState *	robot_

ros::ServiceServer	serve_query_state_

ros::Subscriber	sub_command_

Additional Inherited Members
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_

Detailed Description

Definition at line 58 of file joint_spline_trajectory_controller.h.

Member Typedef Documentation

typedef std::vector<Segment> controller::JointSplineTrajectoryController::SpecifiedTrajectory

private

Definition at line 107 of file joint_spline_trajectory_controller.h.

Constructor & Destructor Documentation

controller::JointSplineTrajectoryController::JointSplineTrajectoryController ( )

Definition at line 142 of file joint_spline_trajectory_controller.cpp.

controller::JointSplineTrajectoryController::~JointSplineTrajectoryController ( )

Definition at line 147 of file joint_spline_trajectory_controller.cpp.

Member Function Documentation

void controller::JointSplineTrajectoryController::commandCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg )

private

Definition at line 342 of file joint_spline_trajectory_controller.cpp.

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

virtual

Implements pr2_controller_interface::Controller.

Definition at line 153 of file joint_spline_trajectory_controller.cpp.

bool controller::JointSplineTrajectoryController::queryStateService	(	pr2_controllers_msgs::QueryTrajectoryState::Request &	req,
		pr2_controllers_msgs::QueryTrajectoryState::Response &	resp
	)

private

Definition at line 583 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		double	duration,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)

staticprivate

Definition at line 626 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::starting ( )

virtual

Reimplemented from pr2_controller_interface::Controller.

Definition at line 247 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::update ( void )

virtual

Implements pr2_controller_interface::Controller.

Definition at line 266 of file joint_spline_trajectory_controller.cpp.

Member Data Documentation

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointSplineTrajectoryController::controller_state_publisher_

private

Definition at line 88 of file joint_spline_trajectory_controller.h.