#include <cartesian_twist.h>

Inheritance diagram for robot_controllers::CartesianTwistController:

Public Member Functions
	CartesianTwistController ()

void	command (const geometry_msgs::TwistStamped::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	~CartesianTwistController ()

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
ros::Subscriber	command_sub_

bool	enabled_

ros::Publisher	feedback_pub_

boost::shared_ptr< KDL::ChainFkSolverPos_recursive >	fksolver_

bool	initialized_

bool	is_active_

std::vector< JointHandlePtr >	joints_

KDL::Chain	kdl_chain_

ros::Time	last_command_time_

KDL::JntArray	last_tgt_jnt_vel_

ControllerManager *	manager_

boost::mutex	mutex_

boost::shared_ptr< KDL::ChainIkSolverVel_wdls >	solver_

KDL::JntArray	tgt_jnt_pos_

KDL::JntArray	tgt_jnt_vel_

KDL::Twist	twist_command_

std::string	twist_command_frame_

Detailed Description

Definition at line 71 of file cartesian_twist.h.

Constructor & Destructor Documentation

◆ CartesianTwistController()

robot_controllers::CartesianTwistController::CartesianTwistController ( )

Definition at line 54 of file cartesian_twist.cpp.

◆ ~CartesianTwistController()

virtual robot_controllers::CartesianTwistController::~CartesianTwistController ( )

inlinevirtual

Definition at line 75 of file cartesian_twist.h.

Member Function Documentation

◆ command()

void robot_controllers::CartesianTwistController::command ( const geometry_msgs::TwistStamped::ConstPtr & goal )

Controller command.

Definition at line 300 of file cartesian_twist.cpp.

◆ getClaimedNames()

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

virtual

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

Implements robot_controllers::Controller.

Definition at line 360 of file cartesian_twist.cpp.

◆ getCommandedNames()

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

virtual

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

Implements robot_controllers::Controller.

Definition at line 348 of file cartesian_twist.cpp.

◆ getPose()

KDL::Frame robot_controllers::CartesianTwistController::getPose ( )

private

◆ getType()

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

inlinevirtual

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 118 of file cartesian_twist.h.

◆ init()

int robot_controllers::CartesianTwistController::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_twist.cpp.

◆ reset()

bool robot_controllers::CartesianTwistController::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_twist.cpp.

◆ start()

bool robot_controllers::CartesianTwistController::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_twist.cpp.

◆ stop()

bool robot_controllers::CartesianTwistController::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_twist.cpp.

◆ update()

void robot_controllers::CartesianTwistController::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_twist.cpp.

Member Data Documentation

◆ command_sub_

ros::Subscriber robot_controllers::CartesianTwistController::command_sub_

private

Definition at line 148 of file cartesian_twist.h.

◆ enabled_

bool robot_controllers::CartesianTwistController::enabled_

private

Definition at line 138 of file cartesian_twist.h.

◆ feedback_pub_

ros::Publisher robot_controllers::CartesianTwistController::feedback_pub_

private

Definition at line 147 of file cartesian_twist.h.

◆ fksolver_

boost::shared_ptr<KDL::ChainFkSolverPos_recursive> robot_controllers::CartesianTwistController::fksolver_

private

Definition at line 142 of file cartesian_twist.h.

◆ initialized_

bool robot_controllers::CartesianTwistController::initialized_

private

Definition at line 135 of file cartesian_twist.h.

◆ is_active_

bool robot_controllers::CartesianTwistController::is_active_

private

Definition at line 156 of file cartesian_twist.h.

◆ joints_

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

private

Definition at line 150 of file cartesian_twist.h.

◆ kdl_chain_

KDL::Chain robot_controllers::CartesianTwistController::kdl_chain_

private

Definition at line 140 of file cartesian_twist.h.

◆ last_command_time_

ros::Time robot_controllers::CartesianTwistController::last_command_time_

private

Definition at line 155 of file cartesian_twist.h.

◆ last_tgt_jnt_vel_

KDL::JntArray robot_controllers::CartesianTwistController::last_tgt_jnt_vel_

private

Definition at line 145 of file cartesian_twist.h.

◆ manager_

ControllerManager* robot_controllers::CartesianTwistController::manager_

private

Definition at line 136 of file cartesian_twist.h.

◆ mutex_

boost::mutex robot_controllers::CartesianTwistController::mutex_

private

Definition at line 152 of file cartesian_twist.h.

◆ solver_

boost::shared_ptr<KDL::ChainIkSolverVel_wdls> robot_controllers::CartesianTwistController::solver_

private

Definition at line 141 of file cartesian_twist.h.

◆ tgt_jnt_pos_

KDL::JntArray robot_controllers::CartesianTwistController::tgt_jnt_pos_

private

Definition at line 143 of file cartesian_twist.h.

◆ tgt_jnt_vel_

KDL::JntArray robot_controllers::CartesianTwistController::tgt_jnt_vel_

private

Definition at line 144 of file cartesian_twist.h.

◆ twist_command_

KDL::Twist robot_controllers::CartesianTwistController::twist_command_

private

Definition at line 153 of file cartesian_twist.h.

◆ twist_command_frame_

std::string robot_controllers::CartesianTwistController::twist_command_frame_

private

Definition at line 154 of file cartesian_twist.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

◆ CartesianTwistController()

◆ ~CartesianTwistController()

Member Function Documentation

◆ command()

◆ getClaimedNames()

◆ getCommandedNames()

◆ getPose()

◆ getType()

◆ init()

◆ reset()

◆ start()

◆ stop()

◆ update()

Member Data Documentation

◆ command_sub_

◆ enabled_

◆ feedback_pub_

◆ fksolver_

◆ initialized_

◆ is_active_

◆ joints_

◆ kdl_chain_

◆ last_command_time_

◆ last_tgt_jnt_vel_

◆ manager_

◆ mutex_

◆ solver_

◆ tgt_jnt_pos_

◆ tgt_jnt_vel_

◆ twist_command_

◆ twist_command_frame_