#include <move_arm.h>
Public Member Functions | |
pr2_controllers_msgs::JointTrajectoryGoal * | createGoal (std::string lr, std::vector< double > positions) |
actionlib::SimpleClientGoalState | getState (char lr) |
Returns the current state of the action. | |
RobotArm () | |
Initialize the action client and wait for action server to come up. | |
void | startTrajectory (std::string goal_name) |
Sends the command to start a given trajectory. | |
~RobotArm () | |
Clean up the action client. | |
Private Attributes | |
std::map< std::string, pr2_controllers_msgs::JointTrajectoryGoal * > | goals |
TrajClient * | left_traj_client_ |
TrajClient * | right_traj_client_ |
Definition at line 8 of file move_arm.h.
Initialize the action client and wait for action server to come up.
Definition at line 20 of file move_arm.cpp.
Clean up the action client.
Definition at line 50 of file move_arm.cpp.
pr2_controllers_msgs::JointTrajectoryGoal * RobotArm::createGoal | ( | std::string | lr, |
std::vector< double > | positions | ||
) |
Definition at line 90 of file move_arm.cpp.
Returns the current state of the action.
Definition at line 76 of file move_arm.cpp.
void RobotArm::startTrajectory | ( | std::string | goal_name | ) |
Sends the command to start a given trajectory.
Definition at line 58 of file move_arm.cpp.
std::map<std::string, pr2_controllers_msgs::JointTrajectoryGoal*> RobotArm::goals [private] |
Definition at line 15 of file move_arm.h.
TrajClient* RobotArm::left_traj_client_ [private] |
Definition at line 13 of file move_arm.h.
TrajClient* RobotArm::right_traj_client_ [private] |
Definition at line 14 of file move_arm.h.