moveit_servo Namespace Reference

Classes
class	CollisionCheck
class	LowPassFilter
struct	PIDConfig
class	PoseTracking
class	PoseTrackingFixture
class	Servo
class	ServoCalcs
class	ServoFixture
struct	ServoParameters
class	SpaceNavToTwist

Typedefs
using	PoseTrackingPtr = std::shared_ptr< PoseTracking >
using	ServoPtr = std::shared_ptr< Servo >

Enumerations
enum	CollisionCheckType { K_THRESHOLD_DISTANCE = 1, K_STOP_DISTANCE = 2 }
enum	PoseTrackingStatusCode : int8_t {   PoseTrackingStatusCode::INVALID = -1, PoseTrackingStatusCode::SUCCESS = 0, PoseTrackingStatusCode::NO_RECENT_TARGET_POSE = 1, PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE = 2,   PoseTrackingStatusCode::STOP_REQUESTED = 3 }
enum	StatusCode : int8_t {   StatusCode::INVALID = -1, StatusCode::NO_WARNING = 0, StatusCode::DECELERATE_FOR_SINGULARITY = 1, StatusCode::HALT_FOR_SINGULARITY = 2,   StatusCode::DECELERATE_FOR_COLLISION = 3, StatusCode::HALT_FOR_COLLISION = 4, StatusCode::JOINT_BOUND = 5 }

Functions
const std::unordered_map< PoseTrackingStatusCode, std::string >	POSE_TRACKING_STATUS_CODE_MAP ({ { PoseTrackingStatusCode::INVALID, "Invalid" }, { PoseTrackingStatusCode::SUCCESS, "Success" }, { PoseTrackingStatusCode::NO_RECENT_TARGET_POSE, "No recent target pose" }, { PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE, "No recent end effector pose" }, { PoseTrackingStatusCode::STOP_REQUESTED, "Stop requested" } })
const std::unordered_map< StatusCode, std::string >	SERVO_STATUS_CODE_MAP ({ { StatusCode::INVALID, "Invalid" }, { StatusCode::NO_WARNING, "No warnings" }, { StatusCode::DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" }, { StatusCode::HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" }, { StatusCode::DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" }, { StatusCode::HALT_FOR_COLLISION, "Collision detected, emergency stop" }, { StatusCode::JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } })
	TEST_F (PoseTrackingFixture, OutgoingMsgTest)
	TEST_F (ServoFixture, EnforceVelLimitsTest)
	TEST_F (ServoFixture, JointVelocityEnforcementTest)
	TEST_F (ServoFixture, SendJointServoTest)
	TEST_F (ServoFixture, SendTwistStampedTest)
	TEST_F (ServoFixture, StartStopTest)

Variables
static const int	NUM_SPINNERS = 1
static const int	QUEUE_LENGTH = 1
constexpr size_t	ROS_QUEUE_SIZE = 2

Typedef Documentation

PoseTrackingPtr

using moveit_servo::PoseTrackingPtr = typedef std::shared_ptr<PoseTracking>

Definition at line 224 of file pose_tracking.h.

ServoPtr

using moveit_servo::ServoPtr = typedef std::shared_ptr<Servo>

Definition at line 153 of file servo.h.

Enumeration Type Documentation

CollisionCheckType

enum moveit_servo::CollisionCheckType

Enumerator
K_THRESHOLD_DISTANCE
K_STOP_DISTANCE

Definition at line 88 of file collision_check.h.

PoseTrackingStatusCode

enum moveit_servo::PoseTrackingStatusCode : int8_t

strong

Enumerator
INVALID
SUCCESS
NO_RECENT_TARGET_POSE
NO_RECENT_END_EFFECTOR_POSE
STOP_REQUESTED

Definition at line 97 of file pose_tracking.h.

StatusCode

enum moveit_servo::StatusCode : int8_t

strong

Enumerator
INVALID
NO_WARNING
DECELERATE_FOR_SINGULARITY
HALT_FOR_SINGULARITY
DECELERATE_FOR_COLLISION
HALT_FOR_COLLISION
JOINT_BOUND

Definition at line 82 of file status_codes.h.

Function Documentation

POSE_TRACKING_STATUS_CODE_MAP()

const std::unordered_map<PoseTrackingStatusCode, std::string> moveit_servo::POSE_TRACKING_STATUS_CODE_MAP

(

{ { PoseTrackingStatusCode::INVALID, "Invalid" }, { PoseTrackingStatusCode::SUCCESS, "Success" }, { PoseTrackingStatusCode::NO_RECENT_TARGET_POSE, "No recent target pose" }, { PoseTrackingStatusCode::NO_RECENT_END_EFFECTOR_POSE, "No recent end effector pose" }, { PoseTrackingStatusCode::STOP_REQUESTED, "Stop requested" } }

)

SERVO_STATUS_CODE_MAP()

const std::unordered_map<StatusCode, std::string> moveit_servo::SERVO_STATUS_CODE_MAP

(

{ { StatusCode::INVALID, "Invalid" }, { StatusCode::NO_WARNING, "No warnings" }, { StatusCode::DECELERATE_FOR_SINGULARITY, "Close to a singularity, decelerating" }, { StatusCode::HALT_FOR_SINGULARITY, "Very close to a singularity, emergency stop" }, { StatusCode::DECELERATE_FOR_COLLISION, "Close to a collision, decelerating" }, { StatusCode::HALT_FOR_COLLISION, "Collision detected, emergency stop" }, { StatusCode::JOINT_BOUND, "Close to a joint bound (position or velocity), halting" } }

)

TEST_F() [1/6]

moveit_servo::TEST_F	(	PoseTrackingFixture	,
		OutgoingMsgTest
	)

Definition at line 101 of file pose_tracking_test.cpp.

TEST_F() [2/6]

moveit_servo::TEST_F	(	ServoFixture	,
		EnforceVelLimitsTest
	)

Definition at line 179 of file basic_servo_tests.cpp.

TEST_F() [3/6]

moveit_servo::TEST_F	(	ServoFixture	,
		JointVelocityEnforcementTest
	)

Definition at line 192 of file servo_cpp_interface_test.cpp.

TEST_F() [4/6]

moveit_servo::TEST_F	(	ServoFixture	,
		SendJointServoTest
	)

Definition at line 136 of file basic_servo_tests.cpp.

TEST_F() [5/6]

moveit_servo::TEST_F	(	ServoFixture	,
		SendTwistStampedTest
	)

Definition at line 94 of file basic_servo_tests.cpp.

TEST_F() [6/6]

moveit_servo::TEST_F	(	ServoFixture	,
		StartStopTest
	)

Definition at line 97 of file servo_cpp_interface_test.cpp.

Variable Documentation

NUM_SPINNERS

const int moveit_servo::NUM_SPINNERS = 1

static

Definition at line 82 of file spacenav_to_twist.cpp.

QUEUE_LENGTH

const int moveit_servo::QUEUE_LENGTH = 1

static

Definition at line 83 of file spacenav_to_twist.cpp.

ROS_QUEUE_SIZE

constexpr size_t moveit_servo::ROS_QUEUE_SIZE = 2

constexpr

Definition at line 80 of file servo_parameters.h.