ROSPassiveController Class Reference

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)
	ROSPassiveController (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	~ROSPassiveController ()
Protected Member Functions
virtual void	_Destroy ()
virtual void	_jointstatecb (const sensor_msgs::JointStateConstPtr &jstate)
virtual void	_threadrosfn ()
Protected Attributes
bool	_bDestroyThread
dReal	_controllertime
std::vector< int >	_dofindices
string	_jointstatetopic
boost::mutex	_mutex
int	_nControlTransformation
boost::shared_ptr < ros::NodeHandle >	_node
RobotBasePtr	_probot
ros::Time	_starttime
ros::Subscriber	_subjointstate
boost::thread	_threadros
vector< pair< string, int > >	_vjointnames
vector< dReal >	_vlastjointtorque
vector< dReal >	_vlastjointvalues
vector< dReal >	_vlastjointvel

---

Detailed Description

Definition at line 38 of file rospassivecontroller.cpp.

---

Constructor & Destructor Documentation

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

Definition at line 41 of file rospassivecontroller.cpp.

virtual ROSPassiveController::~ROSPassiveController

(

)

[inline, virtual]

Definition at line 61 of file rospassivecontroller.cpp.

---

Member Function Documentation

virtual void ROSPassiveController::_Destroy

(

)

[inline, protected, virtual]

Definition at line 149 of file rospassivecontroller.cpp.

virtual void ROSPassiveController::_jointstatecb

(

const sensor_msgs::JointStateConstPtr &

jstate

)

[inline, protected, virtual]

Definition at line 159 of file rospassivecontroller.cpp.

virtual void ROSPassiveController::_threadrosfn

(

)

[inline, protected, virtual]

Definition at line 195 of file rospassivecontroller.cpp.

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

(

)

const [inline, virtual]

Definition at line 95 of file rospassivecontroller.cpp.

virtual RobotBasePtr ROSPassiveController::GetRobot

(

)

const [inline, virtual]

Definition at line 144 of file rospassivecontroller.cpp.

virtual dReal ROSPassiveController::GetTime

(

)

const [inline, virtual]

Definition at line 129 of file rospassivecontroller.cpp.

virtual void ROSPassiveController::GetTorque

(

std::vector< dReal > &

torque

)

const [inline, virtual]

Definition at line 139 of file rospassivecontroller.cpp.

virtual void ROSPassiveController::GetVelocity

(

std::vector< dReal > &

vel

)

const [inline, virtual]

Definition at line 134 of file rospassivecontroller.cpp.

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

Definition at line 65 of file rospassivecontroller.cpp.

virtual int ROSPassiveController::IsControlTransformation

(

)

const [inline, virtual]

Definition at line 99 of file rospassivecontroller.cpp.

virtual bool ROSPassiveController::IsDone

(

)

[inline, virtual]

Definition at line 124 of file rospassivecontroller.cpp.

virtual void ROSPassiveController::Reset

(

int

options

)

[inline, virtual]

Definition at line 104 of file rospassivecontroller.cpp.

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

Definition at line 110 of file rospassivecontroller.cpp.

virtual bool ROSPassiveController::SetPath

(

TrajectoryBaseConstPtr

ptraj

)

[inline, virtual]

Definition at line 115 of file rospassivecontroller.cpp.

virtual void ROSPassiveController::SimulationStep

(

dReal

fTimeElapsed

)

[inline, virtual]

Definition at line 120 of file rospassivecontroller.cpp.

---

Member Data Documentation

bool ROSPassiveController::_bDestroyThread [protected]

Definition at line 203 of file rospassivecontroller.cpp.

dReal ROSPassiveController::_controllertime [protected]

Definition at line 211 of file rospassivecontroller.cpp.

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

Definition at line 212 of file rospassivecontroller.cpp.

string ROSPassiveController::_jointstatetopic [protected]

Definition at line 214 of file rospassivecontroller.cpp.

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

Definition at line 215 of file rospassivecontroller.cpp.

int ROSPassiveController::_nControlTransformation [protected]

Definition at line 213 of file rospassivecontroller.cpp.

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

Definition at line 205 of file rospassivecontroller.cpp.

RobotBasePtr ROSPassiveController::_probot [protected]

Definition at line 204 of file rospassivecontroller.cpp.

ros::Time ROSPassiveController::_starttime [protected]

Definition at line 210 of file rospassivecontroller.cpp.

ros::Subscriber ROSPassiveController::_subjointstate [protected]

Definition at line 207 of file rospassivecontroller.cpp.

boost::thread ROSPassiveController::_threadros [protected]

Definition at line 206 of file rospassivecontroller.cpp.

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

Definition at line 209 of file rospassivecontroller.cpp.

vector<dReal> ROSPassiveController::_vlastjointtorque [protected]

Definition at line 208 of file rospassivecontroller.cpp.

vector<dReal> ROSPassiveController::_vlastjointvalues [protected]

Definition at line 208 of file rospassivecontroller.cpp.

vector<dReal> ROSPassiveController::_vlastjointvel [protected]

Definition at line 208 of file rospassivecontroller.cpp.

---

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

• rospassivecontroller.cpp