SchunkServer.h File Reference

#include <boost/thread.hpp>
#include <boost/noncopyable.hpp>
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <urdf/model.h>
#include <tf/transform_broadcaster.h>
#include <std_msgs/Int8.h>
#include <metralabs_msgs/IDAndFloat.h>
#include <metralabs_msgs/SchunkStatus.h>
#include <sensor_msgs/JointState.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/JointTrajectoryControllerState.h>
#include <control_msgs/FollowJointTrajectoryAction.h>
#include "RobotArm.h"
#include "AmtecProtocolArm.h"
#include "SchunkProtocolArm.h"
#include "LWA3ArmUASHH.h"
#include "PowerCubeArmUUISRC.h"

Include dependency graph for SchunkServer.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	SchunkServer
class	TrajectoryExecuter
Defines
#define	DEG_TO_RAD(d)   ((d)*M_PI/180.0)
#define	RAD_TO_DEG(r)   ((r)*180.0/M_PI)
#define	SIGN_TOLERANT_CUT(value, lim)
#define	SIGN_TOLERANT_MAX(value, def)
#define	SLOWEST_REASONABLE_JOINT_SPEED   0.015f
#define	TOO_SLOW   0.002f

---

Define Documentation

#define DEG_TO_RAD

(

d

)

((d)*M_PI/180.0)

Definition at line 33 of file SchunkServer.h.

#define RAD_TO_DEG

(

r

)

((r)*180.0/M_PI)

Definition at line 34 of file SchunkServer.h.

#define SIGN_TOLERANT_CUT	(		value,
			lim
	)

Value:

( (value)==0 ? 0 : \
                                                                                        ( \
                                                                                                (value)>0 ? \
                                                                                                        ( (value) >  (lim) ? (value) : (0) ) : \
                                                                                                        ( (value) < -(lim) ? (value) : (0) ) \
                                                                                        ) \
                                                                                )

#define SIGN_TOLERANT_MAX	(		value,
			def
	)

Value:

( (value)==0 ? 0 : \
                                                                                        ( \
                                                                                                (value)>0 ? \
                                                                                                        std::max((value),  (def)) : \
                                                                                                        std::min((value), -(def)) \
                                                                                        ) \
                                                                                )

#define SLOWEST_REASONABLE_JOINT_SPEED   0.015f

Definition at line 36 of file SchunkServer.h.

#define TOO_SLOW   0.002f

Definition at line 37 of file SchunkServer.h.