Public Member Functions
bool	initialize ()
	R2GazeController (const ros::NodeHandle &handle, const std::string &rootName, const std::string &tipName)
	~R2GazeController ()
Private Member Functions
KDL::Segment	createVirtualSegment ()
double	getWeight (const std::string &paramName)
Eigen::MatrixXd	getWeightMatrix ()
void	look_at_cb (const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
void	publishNeckCmd (const KDL::JntArray &q_cmd)
void	serializeToMsg (const KDL::JntArray &q, sensor_msgs::JointState &cmdMsg)
void	setupRosTopics (const std::string &lookAtTopicName, const std::string &neckJointCmdTopicName)
void	transformToRootFrame (const geometry_msgs::PoseStamped::ConstPtr &pose_msg, KDL::Frame &frame)
Private Attributes
KDL::Frame	F_desired
boost::scoped_ptr < r2_gaze_controller::R2GazeIK >	ikPtr
sensor_msgs::JointState	jntCmdMsg
ros::Subscriber	jointStateSubscriber
boost::scoped_ptr < tf::MessageFilter < geometry_msgs::PoseStamped > >	lookAtFilter
message_filters::Subscriber < geometry_msgs::PoseStamped >	lookAtSubscriber
ros::Publisher	neckCmdPublisher
ros::NodeHandle	nodeHandle
KDL::JntArray	q_cmd
KDL::JntArray	q_init
std::string	rootName
std::string	tipName
tf::TransformListener	transformListener

Detailed Description

Definition at line 29 of file r2_gaze_controller.hpp.

Constructor & Destructor Documentation

r2_gaze_controller::R2GazeController::R2GazeController	(	const ros::NodeHandle &	handle,
		const std::string &	rootName,
		const std::string &	tipName
	)

Definition at line 32 of file r2_gaze_controller.cpp.

r2_gaze_controller::R2GazeController::~R2GazeController ( )

Definition at line 49 of file r2_gaze_controller.cpp.

KDL::Segment r2_gaze_controller::R2GazeController::createVirtualSegment ( ) [private]

Definition at line 80 of file r2_gaze_controller.cpp.

double r2_gaze_controller::R2GazeController::getWeight ( const std::string & paramName ) [private]

Definition at line 87 of file r2_gaze_controller.cpp.

Eigen::MatrixXd r2_gaze_controller::R2GazeController::getWeightMatrix ( ) [private]

Definition at line 99 of file r2_gaze_controller.cpp.

bool r2_gaze_controller::R2GazeController::initialize ( )

Definition at line 54 of file r2_gaze_controller.cpp.

void r2_gaze_controller::R2GazeController::look_at_cb ( const geometry_msgs::PoseStamped::ConstPtr & pose_msg ) [private]

Definition at line 152 of file r2_gaze_controller.cpp.

void r2_gaze_controller::R2GazeController::publishNeckCmd ( const KDL::JntArray & q_cmd ) [private]

Definition at line 146 of file r2_gaze_controller.cpp.

void r2_gaze_controller::R2GazeController::serializeToMsg	(	const KDL::JntArray &	q,
		sensor_msgs::JointState &	cmdMsg
	)		`[private]`

Definition at line 129 of file r2_gaze_controller.cpp.

void r2_gaze_controller::R2GazeController::setupRosTopics	(	const std::string &	lookAtTopicName,
		const std::string &	neckJointCmdTopicName
	)		`[private]`

Definition at line 115 of file r2_gaze_controller.cpp.

void r2_gaze_controller::R2GazeController::transformToRootFrame	(	const geometry_msgs::PoseStamped::ConstPtr &	pose_msg,
		KDL::Frame &	frame
	)		`[private]`