Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes
motoman::joint_trajectory_handler::JointTrajectoryHandler Class Reference

Message handler that relays joint trajectories to the motoman controller. More...

#include <joint_trajectory_handler.h>

List of all members.

Public Member Functions

unsigned int getNextTrajectoryPoint (const trajectory_msgs::JointTrajectory &traj, const ros::Time &start, const ros::Time &cur)
void jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
 JointTrajectoryHandler ()
 JointTrajectoryHandler (ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection *robotConnecton)
 Constructor.
void trajectoryHandler ()
 ~JointTrajectoryHandler ()

Private Member Functions

void trajectoryStop ()

Private Attributes

trajectory_msgs::JointTrajectory current_traj_
int currentPoint
boost::mutex mutex_
ros::NodeHandle node_
industrial::smpl_msg_connection::SmplMsgConnectionrobot_
JointTrajectoryState state_
ros::Time streaming_start_
ros::Subscriber sub_joint_tranectory_
boost::thread * trajectoryHandler_

Static Private Attributes

static const int NUM_OF_JOINTS_ = 7

Detailed Description

Message handler that relays joint trajectories to the motoman controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 65 of file joint_trajectory_handler.h.


Constructor & Destructor Documentation

Definition at line 44 of file joint_trajectory_handler.cpp.

Constructor.

Parameters:
ROSnode handle (used for subscribing)
ROSnode handle (used for publishing (to the robot controller))

Definition at line 48 of file joint_trajectory_handler.cpp.

Definition at line 65 of file joint_trajectory_handler.cpp.


Member Function Documentation

unsigned int motoman::joint_trajectory_handler::JointTrajectoryHandler::getNextTrajectoryPoint ( const trajectory_msgs::JointTrajectory &  traj,
const ros::Time start,
const ros::Time cur 
)

Definition at line 203 of file joint_trajectory_handler.cpp.

void motoman::joint_trajectory_handler::JointTrajectoryHandler::jointTrajectoryCB ( const trajectory_msgs::JointTrajectoryConstPtr &  msg)

Definition at line 72 of file joint_trajectory_handler.cpp.

Definition at line 116 of file joint_trajectory_handler.cpp.

Definition at line 217 of file joint_trajectory_handler.cpp.


Member Data Documentation

Definition at line 99 of file joint_trajectory_handler.h.

Definition at line 98 of file joint_trajectory_handler.h.

Definition at line 98 of file joint_trajectory_handler.h.

Definition at line 95 of file joint_trajectory_handler.h.

Definition at line 103 of file joint_trajectory_handler.h.

Definition at line 93 of file joint_trajectory_handler.h.

Definition at line 100 of file joint_trajectory_handler.h.

Definition at line 101 of file joint_trajectory_handler.h.

Definition at line 94 of file joint_trajectory_handler.h.

Definition at line 97 of file joint_trajectory_handler.h.


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


dx100
Author(s): Shaun Edwards (Southwest Research Institute)
autogenerated on Thu Jan 2 2014 11:29:36