#include <unlatching.h>

Public Member Functions
void	addTrajectoryPoint (ee_cart_imped_msgs::EECartImpedGoal &msg, tf::Transform pose, float fx, float fy, float fz, float tx, float ty, float tz, float time, std::string frame_id)
	DoorOpener (unsigned char side= 'r')
void	drive_base (const ros::TimerEvent &event)
	Sends the command to drive the base. Needs to be called periodically.
void	grasp_handle (const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > > a_pregrasp, const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > > a_grasp, const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > > a_postgrasp)
void	home_position ()
	Gripper to front of robot.
bool	listen (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
bool	swing_door (geometry_msgs::PoseStamped)
void	use_gripper (float position, float effort)
	Open or close gripper.
bool	wait_for_gripper ()
	~DoorOpener ()
Private Member Functions
tf::StampedTransform	getTransform (const std::string &from, const std::string &to)
void	push_door ()
void	withdraw (float meters)
Private Attributes
EECartImpedArm *	arm_
geometry_msgs::Twist	base_cmd
ros::Publisher	cmd_vel_pub_
std::string	fixed_frame_name_
message_filters::Subscriber < geometry_msgs::PoseStamped >	grasp_sub
gripActClient *	gripperClient
bool	listening_
ros::NodeHandle	n
message_filters::Subscriber < geometry_msgs::PoseStamped >	postgrasp_sub
message_filters::Subscriber < geometry_msgs::PoseStamped >	pregrasp_sub
ros::ServiceServer	serviceServer
unsigned char	side_
bool	started_
bool	success_
message_filters::Synchronizer < MySyncPolicy >	sync
tf::TransformListener *	tflistener_
std::string	tool_frame_name_

Detailed Description

Definition at line 25 of file unlatching.h.

Constructor & Destructor Documentation

DoorOpener::DoorOpener ( unsigned char side = 'r' )

Definition at line 8 of file unlatching.cpp.

DoorOpener::~DoorOpener ( )

Definition at line 55 of file unlatching.cpp.

Member Function Documentation

void DoorOpener::addTrajectoryPoint	(	ee_cart_imped_msgs::EECartImpedGoal &	msg,
		tf::Transform	pose,
		float	fx,
		float	fy,
		float	fz,
		float	tx,
		float	ty,
		float	tz,
		float	time,
		std::string	frame_id
	)

Definition at line 351 of file unlatching.cpp.

void DoorOpener::drive_base ( const ros::TimerEvent & event )

Sends the command to drive the base. Needs to be called periodically.

Definition at line 110 of file unlatching.cpp.

tf::StampedTransform DoorOpener::getTransform	(	const std::string &	from,
		const std::string &	to
	)		`[private]`

Definition at line 341 of file unlatching.cpp.

void DoorOpener::grasp_handle	(	const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > >	a_pregrasp,
		const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > >	a_grasp,
		const boost::shared_ptr< const geometry_msgs::PoseStamped_< std::allocator< void > > >	a_postgrasp
	)