moveit_servo::Servo Class Reference

#include <servo.h>

Public Member Functions
void	changeRobotLinkCommandFrame (const std::string &new_command_frame)
	Change the controlled link. Often, this is the end effector This must be a link on the robot since MoveIt tracks the transform (not tf) More...
bool	getCommandFrameTransform (Eigen::Isometry3d &transform)
bool	getCommandFrameTransform (geometry_msgs::TransformStamped &transform)
bool	getEEFrameTransform (Eigen::Isometry3d &transform)
bool	getEEFrameTransform (geometry_msgs::TransformStamped &transform)
const ServoParameters &	getParameters () const
	Get the parameters used by servo node. More...
	Servo (ros::NodeHandle &nh, const planning_scene_monitor::PlanningSceneMonitorPtr &planning_scene_monitor)
void	setPaused (bool paused)
	Pause or unpause processing servo commands while keeping the timers alive. More...
void	start ()
	start servo node More...
	~Servo ()

Private Member Functions
bool	readParameters ()

Private Attributes
std::unique_ptr< CollisionCheck >	collision_checker_
ros::NodeHandle	nh_
ServoParameters	parameters_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
std::unique_ptr< ServoCalcs >	servo_calcs_

Friends
class	ServoFixture

Detailed Description

Class Servo - Jacobian based robot control with collision avoidance.

Definition at line 90 of file servo.h.

Constructor & Destructor Documentation

Servo()

moveit_servo::Servo::Servo	(	ros::NodeHandle &	nh,
		const planning_scene_monitor::PlanningSceneMonitorPtr &	planning_scene_monitor
	)

Definition at line 54 of file servo.cpp.

~Servo()

moveit_servo::Servo::~Servo

(

)

Definition at line 306 of file servo.cpp.

Member Function Documentation

changeRobotLinkCommandFrame()

void moveit_servo::Servo::changeRobotLinkCommandFrame ( const std::string &  new_command_frame )

inline

Change the controlled link. Often, this is the end effector This must be a link on the robot since MoveIt tracks the transform (not tf)

Definition at line 165 of file servo.h.

getCommandFrameTransform() [1/2]

bool moveit_servo::Servo::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 317 of file servo.cpp.

getCommandFrameTransform() [2/2]

bool moveit_servo::Servo::getCommandFrameTransform

(

geometry_msgs::TransformStamped &

transform

)

Definition at line 322 of file servo.cpp.

getEEFrameTransform() [1/2]

bool moveit_servo::Servo::getEEFrameTransform

(

Eigen::Isometry3d &

transform

)

Get the End Effector link transform. The transform from the MoveIt planning frame to EE link

Parameters

transform

the transform that will be calculated

Returns

true if a valid transform was available

Definition at line 327 of file servo.cpp.

getEEFrameTransform() [2/2]

bool moveit_servo::Servo::getEEFrameTransform

(

geometry_msgs::TransformStamped &

transform

)

Definition at line 332 of file servo.cpp.

getParameters()

const ServoParameters & moveit_servo::Servo::getParameters

(

)

const

Get the parameters used by servo node.

Definition at line 337 of file servo.cpp.

readParameters()

bool moveit_servo::Servo::readParameters ( )

private

Definition at line 85 of file servo.cpp.

setPaused()

void moveit_servo::Servo::setPaused

(

bool

paused

)

Pause or unpause processing servo commands while keeping the timers alive.

Definition at line 311 of file servo.cpp.

start()

void moveit_servo::Servo::start

(

)

start servo node

Definition at line 294 of file servo.cpp.

Friends And Related Function Documentation

ServoFixture

friend class ServoFixture

friend

Definition at line 171 of file servo.h.

Member Data Documentation

collision_checker_

std::unique_ptr<CollisionCheck> moveit_servo::Servo::collision_checker_

private

Definition at line 185 of file servo.h.

nh_

ros::NodeHandle moveit_servo::Servo::nh_

private

Definition at line 176 of file servo.h.

parameters_

ServoParameters moveit_servo::Servo::parameters_

private

Definition at line 182 of file servo.h.

planning_scene_monitor_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_servo::Servo::planning_scene_monitor_

private

Definition at line 179 of file servo.h.

servo_calcs_

std::unique_ptr<ServoCalcs> moveit_servo::Servo::servo_calcs_

private

Definition at line 184 of file servo.h.

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

• servo.h
• servo.cpp