SingleJointPositionNode Class Reference

Public Member Functions
void	goalCB (GoalHandle gh)
	SingleJointPositionNode (const ros::NodeHandle &n)

Private Types
typedef SJPAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer< pr2_controllers_msgs::SingleJointPositionAction >	SJPAS

Private Member Functions
void	cancelCB (GoalHandle gh)
void	controllerStateCB (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &msg)
void	watchdog (const ros::TimerEvent &e)

Private Attributes
SJPAS	action_server_
GoalHandle	active_goal_
ros::ServiceClient	cli_query_traj_
ros::Subscriber	command_sub_
double	goal_threshold_
bool	has_active_goal_
std::string	joint_
pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr	last_controller_state_
double	max_accel_
ros::NodeHandle	node_
ros::Publisher	pub_controller_command_
ros::Subscriber	sub_controller_state_
ros::Timer	watchdog_timer_

Detailed Description

Definition at line 47 of file single_joint_position_action.cpp.

Member Typedef Documentation

GoalHandle

typedef SJPAS::GoalHandle SingleJointPositionNode::GoalHandle

private

Definition at line 83 of file single_joint_position_action.cpp.

SJPAS

typedef actionlib::ActionServer<pr2_controllers_msgs::SingleJointPositionAction> SingleJointPositionNode::SJPAS

private

Definition at line 82 of file single_joint_position_action.cpp.

Constructor & Destructor Documentation

SingleJointPositionNode()

SingleJointPositionNode::SingleJointPositionNode ( const ros::NodeHandle &  n )

inline

Definition at line 85 of file single_joint_position_action.cpp.

Member Function Documentation

cancelCB()

void SingleJointPositionNode::cancelCB ( GoalHandle  gh )

inlineprivate

Definition at line 234 of file single_joint_position_action.cpp.

controllerStateCB()

void SingleJointPositionNode::controllerStateCB ( const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &  msg )

inlineprivate

Definition at line 250 of file single_joint_position_action.cpp.

goalCB()

void SingleJointPositionNode::goalCB ( GoalHandle  gh )

inline

Todo:

Use max_accel_ to compute the velocity correctly.

Definition at line 124 of file single_joint_position_action.cpp.

watchdog()

void SingleJointPositionNode::watchdog ( const ros::TimerEvent &  e )

inlineprivate

Definition at line 200 of file single_joint_position_action.cpp.

Member Data Documentation

action_server_

SJPAS SingleJointPositionNode::action_server_

private

Definition at line 196 of file single_joint_position_action.cpp.

active_goal_

GoalHandle SingleJointPositionNode::active_goal_

private

Definition at line 198 of file single_joint_position_action.cpp.

cli_query_traj_

ros::ServiceClient SingleJointPositionNode::cli_query_traj_

private

Definition at line 193 of file single_joint_position_action.cpp.

command_sub_

ros::Subscriber SingleJointPositionNode::command_sub_

private

Definition at line 192 of file single_joint_position_action.cpp.

goal_threshold_

double SingleJointPositionNode::goal_threshold_

private

Definition at line 187 of file single_joint_position_action.cpp.

has_active_goal_

bool SingleJointPositionNode::has_active_goal_

private

Definition at line 197 of file single_joint_position_action.cpp.

joint_

std::string SingleJointPositionNode::joint_

private

Definition at line 185 of file single_joint_position_action.cpp.

last_controller_state_

pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr SingleJointPositionNode::last_controller_state_

private

Definition at line 249 of file single_joint_position_action.cpp.

max_accel_

double SingleJointPositionNode::max_accel_

private

Definition at line 186 of file single_joint_position_action.cpp.

node_

ros::NodeHandle SingleJointPositionNode::node_

private

Definition at line 189 of file single_joint_position_action.cpp.

pub_controller_command_

ros::Publisher SingleJointPositionNode::pub_controller_command_

private

Definition at line 190 of file single_joint_position_action.cpp.

sub_controller_state_

ros::Subscriber SingleJointPositionNode::sub_controller_state_

private

Definition at line 191 of file single_joint_position_action.cpp.

watchdog_timer_

ros::Timer SingleJointPositionNode::watchdog_timer_

private

Definition at line 194 of file single_joint_position_action.cpp.

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

• single_joint_position_action.cpp