#include <jog_cpp_interface.h>

Inheritance diagram for moveit_jog_arm::JogCppInterface:

Public Member Functions
bool	getCommandFrameTransform (Eigen::Isometry3d &transform)

StatusCode	getJoggerStatus ()

sensor_msgs::JointState	getJointState ()

	JogCppInterface (const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)

void	provideJointCommand (const control_msgs::JointJog &joint_command)
	Send joint position(s) commands. More...

void	provideTwistStampedCommand (const geometry_msgs::TwistStamped &velocity_command)
	Provide a Cartesian velocity command to the jogger. The units are determined by settings in the yaml file. More...

void	setPaused (bool paused)
	Pause or unpause processing jog commands while keeping the main loop alive. More...

void	startMainLoop ()

void	stopMainLoop ()

	~JogCppInterface ()

Public Member Functions inherited from moveit_jog_arm::JogInterfaceBase
bool	changeControlDimensions (moveit_msgs::ChangeControlDimensions::Request &req, moveit_msgs::ChangeControlDimensions::Response &res)
	Start the main calculation thread. More...

bool	changeDriftDimensions (moveit_msgs::ChangeDriftDimensions::Request &req, moveit_msgs::ChangeDriftDimensions::Response &res)

	JogInterfaceBase ()

void	jointsCB (const sensor_msgs::JointStateConstPtr &msg)
	Update the joints of the robot. More...

bool	startCollisionCheckThread ()
	Start collision checking. More...

bool	startJogCalcThread ()

bool	stopCollisionCheckThread ()
	Stop collision checking. More...

bool	stopJogCalcThread ()
	Stop the main calculation thread. More...

Private Attributes
ros::NodeHandle	nh_

Additional Inherited Members
Protected Member Functions inherited from moveit_jog_arm::JogInterfaceBase
bool	readParameters (ros::NodeHandle &n)

Protected Attributes inherited from moveit_jog_arm::JogInterfaceBase
std::unique_ptr< std::thread >	collision_check_thread_

std::unique_ptr< CollisionCheckThread >	collision_checker_

std::unique_ptr< std::thread >	jog_calc_thread_

std::unique_ptr< JogCalcs >	jog_calcs_

planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_

JogArmParameters	ros_parameters_

JogArmShared	shared_variables_

Detailed Description

Class JogCppInterface - This class should be instantiated in a new thread See cpp_interface_example.cpp

Definition at line 51 of file jog_cpp_interface.h.

Constructor & Destructor Documentation

◆ JogCppInterface()

moveit_jog_arm::JogCppInterface::JogCppInterface ( const planning_scene_monitor::PlanningSceneMonitorPtr & planning_scene_monitor )

Definition at line 46 of file jog_cpp_interface.cpp.

◆ ~JogCppInterface()

moveit_jog_arm::JogCppInterface::~JogCppInterface ( )

Definition at line 55 of file jog_cpp_interface.cpp.

Member Function Documentation

◆ getCommandFrameTransform()

bool moveit_jog_arm::JogCppInterface::getCommandFrameTransform ( Eigen::Isometry3d & transform )

Get the MoveIt planning link transform. The transform from the MoveIt planning frame to robot_link_command_frame

Parameters

transform the transform that will be calculated

Returns: true if a valid transform was available

Definition at line 215 of file jog_cpp_interface.cpp.

◆ getJoggerStatus()

StatusCode moveit_jog_arm::JogCppInterface::getJoggerStatus ( )

Get the status of the jogger.

Returns: 0 for no warning. The meaning of nonzero values can be seen in status_codes.h

Definition at line 228 of file jog_cpp_interface.cpp.

◆ getJointState()

sensor_msgs::JointState moveit_jog_arm::JogCppInterface::getJointState ( )

Returns the most recent JointState that the jogger has received. May eliminate the need to create your own joint_state subscriber.

Returns: the most recent joints known to the jogger

Definition at line 206 of file jog_cpp_interface.cpp.

◆ provideJointCommand()

void moveit_jog_arm::JogCppInterface::provideJointCommand ( const control_msgs::JointJog & joint_command )

Send joint position(s) commands.

Definition at line 186 of file jog_cpp_interface.cpp.

◆ provideTwistStampedCommand()

void moveit_jog_arm::JogCppInterface::provideTwistStampedCommand ( const geometry_msgs::TwistStamped & velocity_command )

Provide a Cartesian velocity command to the jogger. The units are determined by settings in the yaml file.

Definition at line 158 of file jog_cpp_interface.cpp.

◆ setPaused()

void moveit_jog_arm::JogCppInterface::setPaused ( bool paused )

Pause or unpause processing jog commands while keeping the main loop alive.

Definition at line 153 of file jog_cpp_interface.cpp.

◆ startMainLoop()

void moveit_jog_arm::JogCppInterface::startMainLoop ( )

Definition at line 60 of file jog_cpp_interface.cpp.

◆ stopMainLoop()

void moveit_jog_arm::JogCppInterface::stopMainLoop ( )

Definition at line 148 of file jog_cpp_interface.cpp.

Member Data Documentation

◆ nh_

ros::NodeHandle moveit_jog_arm::JogCppInterface::nh_

private

Definition at line 98 of file jog_cpp_interface.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members