A wrapper around the client class for the EECartImpedAction. More...
#include <ee_cart_imped_arm.hh>
Public Member Functions | |
| EECartImpedArm (std::string ns) | |
| Creates a new client and waits for the server to come up. | |
| void | startTrajectory (ee_cart_imped_msgs::EECartImpedGoal goal, bool wait=true) |
| Sends a goal to the server. | |
| void | stopTrajectory () |
| Stops the arm. | |
| ~EECartImpedArm () | |
| Deletes the client. | |
Static Public Member Functions | |
| static void | addTrajectoryPoint (ee_cart_imped_msgs::EECartImpedGoal &goal, double x, double y, double z, double ox, double oy, double oz, double ow, double fx, double fy, double fz, double tx, double ty, double tz, bool iswfx, bool iswfy, bool iswfz, bool iswtx, bool iswty, bool iswtz, double ts, std::string frame_id) |
| Adds a trajectory point to the provided trajectory. | |
Private Attributes | |
| EECartImpedClient * | traj_client_ |
| The action client. | |
A wrapper around the client class for the EECartImpedAction.
It is intended to make interacting with the action server simple for most tasks. It allows a user to start or stop a trajectory. It also includes a helper function for creating trajectories more easily.
Definition at line 27 of file ee_cart_imped_arm.hh.
| EECartImpedArm::EECartImpedArm | ( | std::string | ns | ) |
Creates a new client and waits for the server to come up.
| ns | The namespace of the action server. Multiple action servers may be running (to, for example, control both arms) so it is necessary to specify for which server this client is being created. If you launch the controller and action with the provided launch files the two valid options for ns are "r_arm_cart_imped_controller" for the right arm and "l_arm_cart_imped_controller" for the left arm. In general, the valid choices are the namespaces of any EECartImpedAction nodes. |
Definition at line 4 of file ee_cart_imped_arm.cpp.
Deletes the client.
Definition at line 11 of file ee_cart_imped_arm.cpp.
| void EECartImpedArm::addTrajectoryPoint | ( | ee_cart_imped_msgs::EECartImpedGoal & | goal, |
| double | x, | ||
| double | y, | ||
| double | z, | ||
| double | ox, | ||
| double | oy, | ||
| double | oz, | ||
| double | ow, | ||
| double | fx, | ||
| double | fy, | ||
| double | fz, | ||
| double | tx, | ||
| double | ty, | ||
| double | tz, | ||
| bool | iswfx, | ||
| bool | iswfy, | ||
| bool | iswfz, | ||
| bool | iswtx, | ||
| bool | iswty, | ||
| bool | iswtz, | ||
| double | ts, | ||
| std::string | frame_id | ||
| ) | [static] |
Adds a trajectory point to the provided trajectory.
This is a useful function when creating a trajectory. It takes all of the necessary numbers and turns them into one trajectory point, which it appends to the trajectory points already contained in goal.
| goal | The trajectory to which to add this point (at the end) |
| x | Position in x of this point |
| y | Position in y of this point |
| z | Position in z of this point |
| ox | First (x) value of the quaternion giving the Cartesian orientation at this point |
| oy | Second (y) value of the quaternion giving the Cartesian orientation at this point |
| oz | Third (z) value of the quaternion giving the Cartesian orientation at this point |
| ow | Fourth (w) value of the quaternion giving the Cartesian orientation at this point |
| fx | The force or stiffness in the x direction at this point |
| fy | The force or stiffness in the y direction at this point |
| fz | The force or stiffness in the z direction at this point |
| tx | The torque or rotational stiffness around the x axis at this point |
| ty | The torque or rotational stiffness around the y axis at this point |
| tz | The torque or rotational stiffness around the z axis at this point |
| iswfx | True if there is a force in the x direction, false if there is a stiffness |
| iswfy | True if there is a force in the y direction, false if there is a stiffness |
| iswfz | True if there is a force in the z direction, false if there is a stiffness |
| iswtx | True if there is a torque around the x axis, false if there is a stiffness |
| iswty | True if there is a torque around the y axis, false if there is a stiffness |
| iswtz | True if there is a torque around the z axis, false if there is a stiffness |
| ts | The time in seconds after the START of the trajectory that this point should be achieved. Note that this the cummulative time, NOT the time achieving this point should take. This time should be larger than the time for the point before. |
| frame_id | The frame_id of this point. If left as an empty string, will be interpreted as the root_name frame of the controller (probably /torso_lift_link) |
Definition at line 40 of file ee_cart_imped_arm.cpp.
| void EECartImpedArm::startTrajectory | ( | ee_cart_imped_msgs::EECartImpedGoal | goal, |
| bool | wait = true |
||
| ) |
Sends a goal to the server.
Blocks for 200s or until goal is aborted or finished. If the goal times out, it is cancelled. If the goal has been aborted (due to timeout or any other reason), a warning is printed. The arm that performs the trajectory was selected through the ns parameter provided to EECartImpedArm::EECartImpedArm().
| goal | The trajectory to execute |
| wait | If set to false this function will return immediately upon sending the goal to the action server; otherwise it will wait for the completion of the goal. |
Definition at line 15 of file ee_cart_imped_arm.cpp.
| void EECartImpedArm::stopTrajectory | ( | ) |
Stops the arm.
This sends the cancelAllGoals signal to the action server. This causes the arm to hold its last point. Note that "point" includes the force/stiffness. If the arm was exerting a specified force when stopTrajectory was called, it will continue to exert that force.
Definition at line 35 of file ee_cart_imped_arm.cpp.
EECartImpedClient* EECartImpedArm::traj_client_ [private] |
The action client.
Sends goals and cancel signals to the action server. See the actionlib documentation for more details.
Definition at line 38 of file ee_cart_imped_arm.hh.