ROSActionLibController Class Reference

#include <actionlib_controller.h>

List of all members.

Public Member Functions
virtual const std::vector< int > &	GetControlDOFIndices () const
virtual RobotBasePtr	GetRobot () const
virtual dReal	GetTime () const
virtual void	GetTorque (std::vector< dReal > &torque) const
virtual void	GetVelocity (std::vector< dReal > &vel) const
virtual bool	Init (RobotBasePtr robot, const std::vector< int > &dofindices, int nControlTransformation)
virtual int	IsControlTransformation () const
virtual bool	IsDone ()
virtual void	Reset (int options)
	ROSActionLibController (EnvironmentBasePtr penv, std::istream &ss)
virtual bool	SetDesired (const std::vector< dReal > &values, TransformConstPtr trans)
virtual bool	SetPath (TrajectoryBaseConstPtr ptraj)
virtual void	SimulationStep (dReal fTimeElapsed)
virtual	~ROSActionLibController ()
Protected Member Functions
virtual void	_checkaction ()
virtual void	_controllerstatecb (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &cstate)
virtual void	_Destroy ()
virtual void	_jointstatecb (const sensor_msgs::JointStateConstPtr &jstate)
virtual void	_threadrosfn ()
Protected Attributes
boost::shared_ptr < actionlib::MyActionClient < pr2_controllers_msgs::JointTrajectoryAction > >	_ac
ros::Time	_actiontime
string	_actiontopic
bool	_bDestroyThread
bool	_bHasGoal
string	_controllerstatetopic
pr2_controllers_msgs::JointTrajectoryControllerState	_cstate
std::vector< int >	_dofindices
string	_jointstatetopic
boost::mutex	_mutex
int	_nControlTransformation
boost::shared_ptr < ros::NodeHandle >	_node
RobotBasePtr	_probot
	controlled body
ros::Subscriber	_subcontrollerstate
ros::Subscriber	_subjointstate
boost::thread	_threadros
vector< pair< string, int > >	_vjointnames
vector< dReal >	_vlastjointtorque
vector< dReal >	_vlastjointvalues
vector< dReal >	_vlastjointvel

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Detailed Description

Definition at line 584 of file actionlib_controller.h.

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Constructor & Destructor Documentation

ROSActionLibController::ROSActionLibController	(	EnvironmentBasePtr	penv,
		std::istream &	ss
	)		[inline]

Definition at line 587 of file actionlib_controller.h.

virtual ROSActionLibController::~ROSActionLibController

(

)

[inline, virtual]

Definition at line 609 of file actionlib_controller.h.

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Member Function Documentation

virtual void ROSActionLibController::_checkaction

(

)

[inline, protected, virtual]

Definition at line 809 of file actionlib_controller.h.

virtual void ROSActionLibController::_controllerstatecb

(

const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &

cstate

)

[inline, protected, virtual]

Definition at line 789 of file actionlib_controller.h.

virtual void ROSActionLibController::_Destroy

(

)

[inline, protected, virtual]

Definition at line 747 of file actionlib_controller.h.

virtual void ROSActionLibController::_jointstatecb

(

const sensor_msgs::JointStateConstPtr &

jstate

)

[inline, protected, virtual]

Definition at line 764 of file actionlib_controller.h.

virtual void ROSActionLibController::_threadrosfn

(

)

[inline, protected, virtual]

Definition at line 801 of file actionlib_controller.h.

virtual const std::vector<int>& ROSActionLibController::GetControlDOFIndices

(

)

const [inline, virtual]

Definition at line 648 of file actionlib_controller.h.

virtual RobotBasePtr ROSActionLibController::GetRobot

(

)

const [inline, virtual]

Definition at line 744 of file actionlib_controller.h.

virtual dReal ROSActionLibController::GetTime

(

)

const [inline, virtual]

Definition at line 729 of file actionlib_controller.h.

virtual void ROSActionLibController::GetTorque

(

std::vector< dReal > &

torque

)

const [inline, virtual]

Definition at line 739 of file actionlib_controller.h.

virtual void ROSActionLibController::GetVelocity

(

std::vector< dReal > &

vel

)

const [inline, virtual]

Definition at line 734 of file actionlib_controller.h.

virtual bool ROSActionLibController::Init	(	RobotBasePtr	robot,
		const std::vector< int > &	dofindices,
		int	nControlTransformation
	)		[inline, virtual]

Definition at line 613 of file actionlib_controller.h.

virtual int ROSActionLibController::IsControlTransformation

(

)

const [inline, virtual]

Definition at line 649 of file actionlib_controller.h.

virtual bool ROSActionLibController::IsDone

(

)

[inline, virtual]

Definition at line 718 of file actionlib_controller.h.

virtual void ROSActionLibController::Reset

(

int

options

)

[inline, virtual]

Definition at line 651 of file actionlib_controller.h.

virtual bool ROSActionLibController::SetDesired	(	const std::vector< dReal > &	values,
		TransformConstPtr	trans
	)		[inline, virtual]

Definition at line 659 of file actionlib_controller.h.

virtual bool ROSActionLibController::SetPath

(

TrajectoryBaseConstPtr

ptraj

)

[inline, virtual]

Definition at line 675 of file actionlib_controller.h.

virtual void ROSActionLibController::SimulationStep

(

dReal

fTimeElapsed

)

[inline, virtual]

Definition at line 714 of file actionlib_controller.h.

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Member Data Documentation

boost::shared_ptr<actionlib::MyActionClient<pr2_controllers_msgs::JointTrajectoryAction> > ROSActionLibController::_ac [protected]

Definition at line 829 of file actionlib_controller.h.

ros::Time ROSActionLibController::_actiontime [protected]

Definition at line 835 of file actionlib_controller.h.

string ROSActionLibController::_actiontopic [protected]

Definition at line 832 of file actionlib_controller.h.

bool ROSActionLibController::_bDestroyThread [protected]

Definition at line 827 of file actionlib_controller.h.

bool ROSActionLibController::_bHasGoal [protected]

Definition at line 839 of file actionlib_controller.h.

string ROSActionLibController::_controllerstatetopic [protected]

Definition at line 842 of file actionlib_controller.h.

pr2_controllers_msgs::JointTrajectoryControllerState ROSActionLibController::_cstate [protected]

Definition at line 833 of file actionlib_controller.h.

std::vector<int> ROSActionLibController::_dofindices [protected]

Definition at line 840 of file actionlib_controller.h.

string ROSActionLibController::_jointstatetopic [protected]

Definition at line 842 of file actionlib_controller.h.

boost::mutex ROSActionLibController::_mutex [mutable, protected]

Definition at line 838 of file actionlib_controller.h.

int ROSActionLibController::_nControlTransformation [protected]

Definition at line 841 of file actionlib_controller.h.

boost::shared_ptr<ros::NodeHandle> ROSActionLibController::_node [protected]

Definition at line 830 of file actionlib_controller.h.

RobotBasePtr ROSActionLibController::_probot [protected]

controlled body

Definition at line 828 of file actionlib_controller.h.

ros::Subscriber ROSActionLibController::_subcontrollerstate [protected]

Definition at line 834 of file actionlib_controller.h.

ros::Subscriber ROSActionLibController::_subjointstate [protected]

Definition at line 834 of file actionlib_controller.h.

boost::thread ROSActionLibController::_threadros [protected]

Definition at line 831 of file actionlib_controller.h.

vector< pair<string,int> > ROSActionLibController::_vjointnames [protected]

Definition at line 837 of file actionlib_controller.h.

vector<dReal> ROSActionLibController::_vlastjointtorque [protected]

Definition at line 836 of file actionlib_controller.h.

vector<dReal> ROSActionLibController::_vlastjointvalues [protected]

Definition at line 836 of file actionlib_controller.h.

vector<dReal> ROSActionLibController::_vlastjointvel [protected]

Definition at line 836 of file actionlib_controller.h.

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

• actionlib_controller.h