IRI ROS Specific Driver Class. More...

#include <arm_movements_by_pose_alg.h>

Public Types
typedef iri_arm_movements_by_pose::ArmMovementsByPoseConfig	Config
	define config type
Public Member Functions
	ArmMovementsByPoseAlgorithm (void)
	constructor
void	config_update (Config &new_cfg, uint32_t level=0)
	config update
std::vector < geometry_msgs::PoseStamped >	get_initial_position ()
	Returns initial pose.
std::vector < geometry_msgs::PoseStamped >	get_transformed_poses (std::vector< geometry_msgs::PoseStamped > poses, std::vector< float > plane_coefficients)
	PUBLIC ALGORITHM.
void	lock (void)
	Lock Algorithm.
geometry_msgs::Quaternion	rotate_pitch (geometry_msgs::Quaternion orientation_msgs, double angle)
	Rotates Y axis.
geometry_msgs::Quaternion	rotate_roll (geometry_msgs::Quaternion orientation_msgs, double angle)
	Rotates X axis.
geometry_msgs::Quaternion	rotate_yaw (geometry_msgs::Quaternion orientation_msgs, double angle)
	Rotates X axis.
bool	try_enter (void)
	Tries Access to Algorithm.
void	unlock (void)
	Unlock Algorithm.
	~ArmMovementsByPoseAlgorithm (void)
	Destructor.
Public Attributes
Config	config_
	config variable
std::string	tf_target_str
	Target TF frame name.
Protected Attributes
CMutex	alg_mutex_
	define config type
Private Member Functions
geometry_msgs::PoseStamped	get_pose_from_tf_with_offset (geometry_msgs::PoseStamped pose_orig, std::vector< float > plane_coefs)
Private Attributes
double	hand_size_offset
bool	robot_wam
tf::TransformBroadcaster	tf_br
tf::TransformListener	tf_listener
double	wam_security_distance

Detailed Description

IRI ROS Specific Driver Class.

Definition at line 46 of file arm_movements_by_pose_alg.h.

Member Typedef Documentation

typedef iri_arm_movements_by_pose::ArmMovementsByPoseConfig ArmMovementsByPoseAlgorithm::Config

define config type

Define a Config type with the ArmMovementsByPoseConfig. All driver implementations will then use the same variable type Config.

Definition at line 77 of file arm_movements_by_pose_alg.h.

Constructor & Destructor Documentation

ArmMovementsByPoseAlgorithm::ArmMovementsByPoseAlgorithm ( void )

constructor

In this constructor parameters related to the specific driver can be initalized. Those parameters can be also set in the openDriver() function. Attributes from the main node driver class IriBaseDriver such as loop_rate, may be also overload here.

Definition at line 3 of file arm_movements_by_pose_alg.cpp.

ArmMovementsByPoseAlgorithm::~ArmMovementsByPoseAlgorithm ( void )

Destructor.

This destructor is called when the object is about to be destroyed.

Definition at line 7 of file arm_movements_by_pose_alg.cpp.

Member Function Documentation

void ArmMovementsByPoseAlgorithm::config_update	(	Config &	new_cfg,
		uint32_t	level = `0`
	)

config update

In this function the driver parameters must be updated with the input config variable. Then the new configuration state will be stored in the Config attribute.

Parameters:

new_cfg	the new driver configuration state
level	level in which the update is taken place

Definition at line 11 of file arm_movements_by_pose_alg.cpp.

std::vector< geometry_msgs::PoseStamped > ArmMovementsByPoseAlgorithm::get_initial_position ( )

Returns initial pose.

Returns initial pose

Definition at line 53 of file arm_movements_by_pose_alg.cpp.

geometry_msgs::PoseStamped ArmMovementsByPoseAlgorithm::get_pose_from_tf_with_offset	(	geometry_msgs::PoseStamped	pose_orig,
		std::vector< float >	plane_coefs
	)		`[private]`

Definition at line 27 of file arm_movements_by_pose_alg.cpp.

std::vector< geometry_msgs::PoseStamped > ArmMovementsByPoseAlgorithm::get_transformed_poses	(	std::vector< geometry_msgs::PoseStamped >	poses,
		std::vector< float >	plane_coefficients
	)