WamTutorial Class Reference

#include <wam_tutorial.h>

List of all members.

Public Member Functions
void	mainLoop ()
	WamTutorial ()
Private Member Functions
void	calculate_error (std::string target)
void	joint_states_callback (const sensor_msgs::JointState::ConstPtr &msg)
void	pose_callback (const geometry_msgs::PoseStamped::ConstPtr &msg)
Private Attributes
std::vector< double >	angles
bool	gocenter
ros::ServiceClient	joint_move_client
iri_wam_common_msgs::joints_move	joint_move_srv
ros::Subscriber	joint_states_subscriber
tf::TransformListener	listener
ros::NodeHandle	nh_
int	numtargets
ros::ServiceClient	pose_move2_client
iri_wam_common_msgs::pose_move	pose_move2_srv
ros::ServiceClient	pose_move_client
iri_wam_common_msgs::pose_move	pose_move_srv
ros::Subscriber	pose_subscriber
int	targetid
ros::Publisher	tf_publisher
tf::tfMessage	tfMessage_msg
std::vector< Eigen::Matrix4f, Eigen::aligned_allocator < Eigen::Matrix4f > >	transforms

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Detailed Description

Definition at line 26 of file wam_tutorial.h.

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Constructor & Destructor Documentation

WamTutorial::WamTutorial

(

)

Definition at line 5 of file wam_tutorial.cpp.

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Member Function Documentation

void WamTutorial::calculate_error

(

std::string

target

)

[private]

Definition at line 225 of file wam_tutorial.cpp.

void WamTutorial::joint_states_callback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

[private]

Definition at line 212 of file wam_tutorial.cpp.

void WamTutorial::mainLoop

(

void

)

--> y = x, z = y, w = z i x = w.

Definition at line 47 of file wam_tutorial.cpp.

void WamTutorial::pose_callback

(

const geometry_msgs::PoseStamped::ConstPtr &

msg

)

[private]

Definition at line 207 of file wam_tutorial.cpp.

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Member Data Documentation

std::vector<double> WamTutorial::angles [private]

Definition at line 36 of file wam_tutorial.h.

bool WamTutorial::gocenter [private]

Definition at line 33 of file wam_tutorial.h.

ros::ServiceClient WamTutorial::joint_move_client [private]

Definition at line 53 of file wam_tutorial.h.

iri_wam_common_msgs::joints_move WamTutorial::joint_move_srv [private]

Definition at line 54 of file wam_tutorial.h.

ros::Subscriber WamTutorial::joint_states_subscriber [private]

Definition at line 44 of file wam_tutorial.h.

tf::TransformListener WamTutorial::listener [private]

Definition at line 39 of file wam_tutorial.h.

ros::NodeHandle WamTutorial::nh_ [private]

Definition at line 37 of file wam_tutorial.h.

int WamTutorial::numtargets [private]

Definition at line 34 of file wam_tutorial.h.

ros::ServiceClient WamTutorial::pose_move2_client [private]

Definition at line 49 of file wam_tutorial.h.

iri_wam_common_msgs::pose_move WamTutorial::pose_move2_srv [private]

Definition at line 50 of file wam_tutorial.h.

ros::ServiceClient WamTutorial::pose_move_client [private]

Definition at line 51 of file wam_tutorial.h.

iri_wam_common_msgs::pose_move WamTutorial::pose_move_srv [private]

Definition at line 52 of file wam_tutorial.h.

ros::Subscriber WamTutorial::pose_subscriber [private]

Definition at line 46 of file wam_tutorial.h.

int WamTutorial::targetid [private]

Definition at line 35 of file wam_tutorial.h.

ros::Publisher WamTutorial::tf_publisher [private]

Definition at line 38 of file wam_tutorial.h.

tf::tfMessage WamTutorial::tfMessage_msg [private]

Definition at line 40 of file wam_tutorial.h.

std::vector<Eigen::Matrix4f,Eigen::aligned_allocator<Eigen::Matrix4f> > WamTutorial::transforms [private]

Definition at line 42 of file wam_tutorial.h.

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

• wam_tutorial.h
• wam_tutorial.cpp