#include <joint_spline_trajectory_action_controller.hpp>

Classes
struct	Segment

struct	Spline

Public Member Functions
	JointTrajectoryActionController ()

	JointTrajectoryActionController ()

Private Types
typedef std::map< std::string, ros::Publisher >	JointPubMap

typedef std::vector< trajectory_msgs::JointTrajectoryPoint >	JointTrajectoryPointVec

typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	JTAS

typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	JTAS

typedef std::vector< Segment >	SpecifiedTrajectory

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

void	execute_trajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)

void	execute_trajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)

bool	getPosition (std::string joint_name, double &position)

void	updateJointState ()

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::shared_ptr< JTAS >	action_server

ros::Subscriber	command_sub

std::vector< ros::Publisher >	controller_publishers

ros::Publisher	desired_joint_state_pusblisher

std::vector< std::string >	joint_names_

JointPubMap	joint_pub

ros::ServiceClient	joint_state_client

std::map< std::string, unsigned int >	joint_state_idx_map

std::map< std::string, double >	joint_state_map

std::map< std::string, std::string >	jointControllerMap

std::map< std::string, unsigned int >	jointPubIdxMap

ros::Time	last_time_

ros::NodeHandle	nh

ros::NodeHandle	nh_tilde

std::vector< double >	q

std::vector< double >	qd

std::vector< double >	qdd

ros::Publisher	sr_arm_target_pub

ros::Publisher	sr_hand_target_pub

bool	use_sendupdate

Detailed Description

Definition at line 43 of file joint_spline_trajectory_action_controller.hpp.

Member Typedef Documentation

◆ JointPubMap

typedef std::map<std::string, ros::Publisher> shadowrobot::JointTrajectoryActionController::JointPubMap

private

Definition at line 46 of file joint_trajectory_action_controller.hpp.

◆ JointTrajectoryPointVec

typedef std::vector<trajectory_msgs::JointTrajectoryPoint> shadowrobot::JointTrajectoryActionController::JointTrajectoryPointVec

private

Definition at line 45 of file joint_trajectory_action_controller.hpp.

◆ JTAS [1/2]

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> shadowrobot::JointTrajectoryActionController::JTAS

private

Definition at line 44 of file joint_trajectory_action_controller.hpp.

◆ JTAS [2/2]

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> shadowrobot::JointTrajectoryActionController::JTAS

private

Definition at line 45 of file joint_spline_trajectory_action_controller.hpp.

◆ SpecifiedTrajectory

typedef std::vector<Segment> shadowrobot::JointTrajectoryActionController::SpecifiedTrajectory

private

Definition at line 84 of file joint_spline_trajectory_action_controller.hpp.

Constructor & Destructor Documentation

◆ JointTrajectoryActionController() [1/2]

shadowrobot::JointTrajectoryActionController::JointTrajectoryActionController ( )

Definition at line 139 of file joint_spline_trajectory_action_controller.cpp.

◆ JointTrajectoryActionController() [2/2]

shadowrobot::JointTrajectoryActionController::JointTrajectoryActionController ( )

Member Function Documentation

◆ commandCB()

void shadowrobot::JointTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg )

private

Definition at line 618 of file joint_spline_trajectory_action_controller.cpp.

◆ execute_trajectory() [1/2]

void shadowrobot::JointTrajectoryActionController::execute_trajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal )

private

◆ execute_trajectory() [2/2]

void shadowrobot::JointTrajectoryActionController::execute_trajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal )

private

Definition at line 276 of file joint_spline_trajectory_action_controller.cpp.

◆ getPosition()

bool shadowrobot::JointTrajectoryActionController::getPosition	(	std::string	joint_name,
		double &	position
	)

private

Definition at line 260 of file joint_spline_trajectory_action_controller.cpp.

◆ sampleSplineWithTimeBounds()

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