IKTrajectoryExecutor Class Reference

List of all members.

Public Member Functions
bool	execute_cartesian_ik_trajectory (pr2_laban_gazebo_demo::ExecuteCartesianIKTrajectory::Request &req, pr2_laban_gazebo_demo::ExecuteCartesianIKTrajectory::Response &res)
bool	execute_joint_trajectory (std::vector< double * > joint_trajectory)
void	get_current_joint_angles (double current_angles[7])
	IKTrajectoryExecutor ()
bool	run_ik (geometry_msgs::PoseStamped pose, double start_angles[7], double solution[7], std::string link_name)
	~IKTrajectoryExecutor ()
Private Attributes
TrajClient *	action_client
pr2_controllers_msgs::JointTrajectoryGoal	goal
ros::ServiceClient	ik_client
kinematics_msgs::GetPositionIK::Request	ik_request
kinematics_msgs::GetPositionIK::Response	ik_response
ros::NodeHandle	node
ros::ServiceServer	service

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Detailed Description

Definition at line 19 of file ik_trajectory_tutorial.cpp.

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Constructor & Destructor Documentation

IKTrajectoryExecutor::IKTrajectoryExecutor

(

)

[inline]

Definition at line 31 of file ik_trajectory_tutorial.cpp.

IKTrajectoryExecutor::~IKTrajectoryExecutor

(

)

[inline]

Definition at line 67 of file ik_trajectory_tutorial.cpp.

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Member Function Documentation

bool IKTrajectoryExecutor::execute_cartesian_ik_trajectory	(	pr2_laban_gazebo_demo::ExecuteCartesianIKTrajectory::Request &	req,
		pr2_laban_gazebo_demo::ExecuteCartesianIKTrajectory::Response &	res
	)		[inline]

Definition at line 211 of file ik_trajectory_tutorial.cpp.

bool IKTrajectoryExecutor::execute_joint_trajectory

(

std::vector< double * >

joint_trajectory

)

[inline]

Definition at line 139 of file ik_trajectory_tutorial.cpp.

void IKTrajectoryExecutor::get_current_joint_angles

(

double

current_angles[7]

)

[inline]

Definition at line 122 of file ik_trajectory_tutorial.cpp.

bool IKTrajectoryExecutor::run_ik	(	geometry_msgs::PoseStamped	pose,
		double	start_angles[7],
		double	solution[7],
		std::string	link_name
	)		[inline]

Definition at line 77 of file ik_trajectory_tutorial.cpp.

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Member Data Documentation

TrajClient* IKTrajectoryExecutor::action_client [private]

Definition at line 28 of file ik_trajectory_tutorial.cpp.

pr2_controllers_msgs::JointTrajectoryGoal IKTrajectoryExecutor::goal [private]

Definition at line 25 of file ik_trajectory_tutorial.cpp.

ros::ServiceClient IKTrajectoryExecutor::ik_client [private]

Definition at line 23 of file ik_trajectory_tutorial.cpp.

kinematics_msgs::GetPositionIK::Request IKTrajectoryExecutor::ik_request [private]

Definition at line 26 of file ik_trajectory_tutorial.cpp.

kinematics_msgs::GetPositionIK::Response IKTrajectoryExecutor::ik_response [private]

Definition at line 27 of file ik_trajectory_tutorial.cpp.

ros::NodeHandle IKTrajectoryExecutor::node [private]

Definition at line 22 of file ik_trajectory_tutorial.cpp.

ros::ServiceServer IKTrajectoryExecutor::service [private]

Definition at line 24 of file ik_trajectory_tutorial.cpp.

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

• ik_trajectory_tutorial.cpp