#include <cartesian_pose.h>

Inheritance diagram for robot_controllers::CartesianPoseController:

Public Member Functions
	CartesianPoseController ()

void	command (const geometry_msgs::PoseStamped::ConstPtr &goal)
	Controller command. More...

virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims. More...

virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands. More...

virtual std::string	getType ()
	Get the type of this controller. More...

virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures. More...

virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition. More...

virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance. More...

virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance. More...

virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller. More...

virtual	~CartesianPoseController ()

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

std::string	getName ()

virtual	~Controller ()

Public Member Functions inherited from robot_controllers::Handle
	Handle ()

virtual	~Handle ()

Private Member Functions
KDL::Frame	getPose ()

Private Attributes
KDL::Frame	actual_pose_

ros::Subscriber	command_sub_

KDL::Frame	desired_pose_

bool	enabled_

ros::Publisher	feedback_pub_

bool	initialized_

boost::shared_ptr< KDL::ChainJntToJacSolver >	jac_solver_

KDL::Jacobian	jacobian_

KDL::JntArray	jnt_delta_

KDL::JntArray	jnt_pos_

boost::shared_ptr< KDL::ChainFkSolverPos >	jnt_to_pose_solver_

std::vector< JointHandlePtr >	joints_

KDL::Chain	kdl_chain_

ros::Time	last_command_

ControllerManager *	manager_

std::vector< robot_controllers::PID >	pid_

std::string	root_link_

tf::TransformListener	tf_

KDL::Twist	twist_error_

Detailed Description

Definition at line 69 of file cartesian_pose.h.

Constructor & Destructor Documentation

◆ CartesianPoseController()

robot_controllers::CartesianPoseController::CartesianPoseController ( )

Definition at line 55 of file cartesian_pose.cpp.

◆ ~CartesianPoseController()

virtual robot_controllers::CartesianPoseController::~CartesianPoseController ( )

inlinevirtual

Definition at line 73 of file cartesian_pose.h.

Member Function Documentation

◆ command()

void robot_controllers::CartesianPoseController::command ( const geometry_msgs::PoseStamped::ConstPtr & goal )

Controller command.

Definition at line 215 of file cartesian_pose.cpp.

◆ getClaimedNames()

std::vector< std::string > robot_controllers::CartesianPoseController::getClaimedNames ( )

virtual

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 261 of file cartesian_pose.cpp.

◆ getCommandedNames()

std::vector< std::string > robot_controllers::CartesianPoseController::getCommandedNames ( )

virtual

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 249 of file cartesian_pose.cpp.

◆ getPose()

KDL::Frame robot_controllers::CartesianPoseController::getPose ( )

private

Definition at line 204 of file cartesian_pose.cpp.

◆ getType()

virtual std::string robot_controllers::CartesianPoseController::getType ( )

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 116 of file cartesian_pose.h.

◆ init()

int robot_controllers::CartesianPoseController::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)

virtual

Initialize the controller and any required data structures.

Parameters

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 60 of file cartesian_pose.cpp.

◆ reset()

bool robot_controllers::CartesianPoseController::reset ( )

virtual

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.

Returns: True if successfully reset, false otherwise.

Implements robot_controllers::Controller.

Definition at line 158 of file cartesian_pose.cpp.

◆ start()

bool robot_controllers::CartesianPoseController::start ( )

virtual

Attempt to start the controller. This should be called only by the ControllerManager instance.

Returns: True if successfully started, false otherwise.

Implements robot_controllers::Controller.

Definition at line 133 of file cartesian_pose.cpp.

◆ stop()

bool robot_controllers::CartesianPoseController::stop ( bool force )

virtual

Attempt to stop the controller. This should be called only by the ControllerManager instance.

Parameters

force Should we force the controller to stop? Some controllers may wish to continue running until they absolutely have to stop.

Returns: True if successfully stopped, false otherwise.

Implements robot_controllers::Controller.

Definition at line 152 of file cartesian_pose.cpp.

◆ update()

void robot_controllers::CartesianPoseController::update	(	const ros::Time &	now,
		const ros::Duration &	dt
	)

virtual

This is the update loop for the controller.

Parameters

time	The system time.
dt	The timestep since last call to update.

Implements robot_controllers::Controller.

Definition at line 164 of file cartesian_pose.cpp.

Member Data Documentation

◆ actual_pose_

KDL::Frame robot_controllers::CartesianPoseController::actual_pose_

private

Definition at line 141 of file cartesian_pose.h.

◆ command_sub_

ros::Subscriber robot_controllers::CartesianPoseController::command_sub_

private

Definition at line 153 of file cartesian_pose.h.

◆ desired_pose_

KDL::Frame robot_controllers::CartesianPoseController::desired_pose_

private

Definition at line 140 of file cartesian_pose.h.

◆ enabled_

bool robot_controllers::CartesianPoseController::enabled_

private

Definition at line 136 of file cartesian_pose.h.

◆ feedback_pub_

ros::Publisher robot_controllers::CartesianPoseController::feedback_pub_

private

Definition at line 152 of file cartesian_pose.h.

◆ initialized_

bool robot_controllers::CartesianPoseController::initialized_

private

Definition at line 133 of file cartesian_pose.h.

◆ jac_solver_

boost::shared_ptr<KDL::ChainJntToJacSolver> robot_controllers::CartesianPoseController::jac_solver_

private

Definition at line 147 of file cartesian_pose.h.

◆ jacobian_

KDL::Jacobian robot_controllers::CartesianPoseController::jacobian_

private

Definition at line 150 of file cartesian_pose.h.

◆ jnt_delta_

KDL::JntArray robot_controllers::CartesianPoseController::jnt_delta_

private

Definition at line 149 of file cartesian_pose.h.

◆ jnt_pos_

KDL::JntArray robot_controllers::CartesianPoseController::jnt_pos_

private

Definition at line 148 of file cartesian_pose.h.

◆ jnt_to_pose_solver_

boost::shared_ptr<KDL::ChainFkSolverPos> robot_controllers::CartesianPoseController::jnt_to_pose_solver_

private

Definition at line 146 of file cartesian_pose.h.

◆ joints_

std::vector<JointHandlePtr> robot_controllers::CartesianPoseController::joints_

private

Definition at line 156 of file cartesian_pose.h.

◆ kdl_chain_

KDL::Chain robot_controllers::CartesianPoseController::kdl_chain_

private

Definition at line 145 of file cartesian_pose.h.

◆ last_command_

ros::Time robot_controllers::CartesianPoseController::last_command_

private

Definition at line 138 of file cartesian_pose.h.

◆ manager_

ControllerManager* robot_controllers::CartesianPoseController::manager_

private

Definition at line 134 of file cartesian_pose.h.

◆ pid_

std::vector<robot_controllers::PID> robot_controllers::CartesianPoseController::pid_

private

Definition at line 157 of file cartesian_pose.h.

◆ root_link_

std::string robot_controllers::CartesianPoseController::root_link_

private

Definition at line 137 of file cartesian_pose.h.

◆ tf_

tf::TransformListener robot_controllers::CartesianPoseController::tf_

private

Definition at line 155 of file cartesian_pose.h.

◆ twist_error_

KDL::Twist robot_controllers::CartesianPoseController::twist_error_

private

Definition at line 143 of file cartesian_pose.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CartesianPoseController()

◆ ~CartesianPoseController()

Member Function Documentation

◆ command()

◆ getClaimedNames()

◆ getCommandedNames()

◆ getPose()

◆ getType()

◆ init()

◆ reset()

◆ start()

◆ stop()

◆ update()

Member Data Documentation

◆ actual_pose_

◆ command_sub_

◆ desired_pose_

◆ enabled_

◆ feedback_pub_

◆ initialized_

◆ jac_solver_

◆ jacobian_

◆ jnt_delta_

◆ jnt_pos_

◆ jnt_to_pose_solver_

◆ joints_

◆ kdl_chain_

◆ last_command_

◆ manager_

◆ pid_

◆ root_link_

◆ tf_

◆ twist_error_