Public Member Functions | Private Types | Private Member Functions | Private Attributes
ControlHead Class Reference

List of all members.

Public Member Functions

void cancelCB (GoalHandle gh)
 ControlHead (const ros::NodeHandle &n)
 ControlHead (const ros::NodeHandle &node)
void controllerStateCB (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &msg)
void goalCB (GoalHandle gh)
void goalCB (GoalHandle gh)
void watchdog (const ros::TimerEvent &e)

Private Types

typedef PHAS::GoalHandle GoalHandle
typedef PHAS::GoalHandle GoalHandle
typedef
actionlib::ActionServer
< pr2_controllers_msgs::PointHeadAction
PHAS
typedef
actionlib::ActionServer
< pr2_controllers_msgs::PointHeadAction
PHAS

Private Member Functions

void cancelCB (GoalHandle gh)
void controllerStateCB (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &msg)
void watchdog (const ros::TimerEvent &e)

Private Attributes

std::string action_name_
PHAS action_server_
GoalHandle active_goal_
KDL::Chain chain_
ros::ServiceClient cli_query_traj_
ros::Subscriber command_sub_
std::string default_pointing_frame_
bool has_active_goal_
boost::scoped_ptr
< KDL::ChainJntToJacSolver
jac_solver_
std::vector< std::string > joint_names_
pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr last_controller_state_
ros::NodeHandle nh_
ros::NodeHandle node_
std::string node_name_
std::string pan_joint_
std::string pan_link_
std::string pan_parent_
ros::NodeHandle pnh_
tf::Vector3 pointing_axis_
std::string pointing_frame_
boost::scoped_ptr
< KDL::ChainFkSolverPos
pose_solver_
ros::Publisher pub_controller_command_
std::string root_
ros::Subscriber sub_controller_state_
double success_angle_threshold_
geometry_msgs::PointStamped target_
tf::Stamped< tf::Pointtarget_in_pan_
tf::Point target_in_root_
tf::TransformListener tf_
tf::TransformListener tfl_
std::string tilt_joint_
std::string tilt_link_
std::string tip_
KDL::Tree tree_
urdf::Model urdf_model_
ros::Timer watchdog_timer_

Detailed Description

Definition at line 49 of file pr2_head_action.cpp.


Member Typedef Documentation

Definition at line 47 of file pr2_point_frame.cpp.

Definition at line 53 of file pr2_head_action.cpp.

Definition at line 46 of file pr2_point_frame.cpp.

Definition at line 52 of file pr2_head_action.cpp.


Constructor & Destructor Documentation

ControlHead::ControlHead ( const ros::NodeHandle n) [inline]

Definition at line 55 of file pr2_head_action.cpp.

ControlHead::ControlHead ( const ros::NodeHandle node) [inline]

Definition at line 86 of file pr2_point_frame.cpp.


Member Function Documentation

void ControlHead::cancelCB ( GoalHandle  gh) [inline, private]

Definition at line 258 of file pr2_head_action.cpp.

void ControlHead::cancelCB ( GoalHandle  gh) [inline]

Definition at line 435 of file pr2_point_frame.cpp.

Todo:
Support frames that are not the pan link itself

Definition at line 275 of file pr2_head_action.cpp.

Todo:
Support frames that are not the pan link itself

Definition at line 451 of file pr2_point_frame.cpp.

void ControlHead::goalCB ( GoalHandle  gh) [inline]

Definition at line 87 of file pr2_head_action.cpp.

void ControlHead::goalCB ( GoalHandle  gh) [inline]

Definition at line 134 of file pr2_point_frame.cpp.

void ControlHead::watchdog ( const ros::TimerEvent e) [inline, private]

Definition at line 223 of file pr2_head_action.cpp.

void ControlHead::watchdog ( const ros::TimerEvent e) [inline]

Definition at line 400 of file pr2_point_frame.cpp.


Member Data Documentation

std::string ControlHead::action_name_ [private]

Definition at line 50 of file pr2_point_frame.cpp.

Definition at line 216 of file pr2_head_action.cpp.

Definition at line 218 of file pr2_head_action.cpp.

Definition at line 75 of file pr2_point_frame.cpp.

Definition at line 213 of file pr2_head_action.cpp.

Definition at line 212 of file pr2_head_action.cpp.

std::string ControlHead::default_pointing_frame_ [private]

Definition at line 54 of file pr2_point_frame.cpp.

Definition at line 217 of file pr2_head_action.cpp.

boost::scoped_ptr<KDL::ChainJntToJacSolver> ControlHead::jac_solver_ [private]

Definition at line 79 of file pr2_point_frame.cpp.

std::vector< std::string> ControlHead::joint_names_ [private]

Definition at line 57 of file pr2_point_frame.cpp.

Definition at line 274 of file pr2_head_action.cpp.

Definition at line 59 of file pr2_point_frame.cpp.

Definition at line 208 of file pr2_head_action.cpp.

std::string ControlHead::node_name_ [private]

Definition at line 49 of file pr2_point_frame.cpp.

std::string ControlHead::pan_joint_ [private]

Definition at line 205 of file pr2_head_action.cpp.

std::string ControlHead::pan_link_ [private]

Definition at line 203 of file pr2_head_action.cpp.

std::string ControlHead::pan_parent_ [private]

Definition at line 220 of file pr2_head_action.cpp.

Definition at line 59 of file pr2_point_frame.cpp.

tf::Vector3 ControlHead::pointing_axis_ [private]

Definition at line 56 of file pr2_point_frame.cpp.

std::string ControlHead::pointing_frame_ [private]

Definition at line 55 of file pr2_point_frame.cpp.

boost::scoped_ptr<KDL::ChainFkSolverPos> ControlHead::pose_solver_ [private]

Definition at line 78 of file pr2_point_frame.cpp.

Definition at line 210 of file pr2_head_action.cpp.

std::string ControlHead::root_ [private]

Definition at line 51 of file pr2_point_frame.cpp.

Definition at line 211 of file pr2_head_action.cpp.

Definition at line 221 of file pr2_head_action.cpp.

geometry_msgs::PointStamped ControlHead::target_ [private]

Definition at line 73 of file pr2_point_frame.cpp.

Definition at line 219 of file pr2_head_action.cpp.

Definition at line 76 of file pr2_point_frame.cpp.

Definition at line 209 of file pr2_head_action.cpp.

Definition at line 81 of file pr2_point_frame.cpp.

std::string ControlHead::tilt_joint_ [private]

Definition at line 206 of file pr2_head_action.cpp.

std::string ControlHead::tilt_link_ [private]

Definition at line 204 of file pr2_head_action.cpp.

std::string ControlHead::tip_ [private]

Definition at line 52 of file pr2_point_frame.cpp.

Definition at line 74 of file pr2_point_frame.cpp.

Definition at line 82 of file pr2_point_frame.cpp.

Definition at line 214 of file pr2_head_action.cpp.


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


pr2_head_action
Author(s): Stuart Glaser
autogenerated on Fri Jan 3 2014 11:42:10