Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
controller::CartesianTwistController Class Reference

#include <cartesian_twist_controller.h>

Inheritance diagram for controller::CartesianTwistController:
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List of all members.

Public Member Functions

 CartesianTwistController ()
bool init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void starting ()
void update ()
 ~CartesianTwistController ()

Public Attributes

KDL::Twist twist_desi_
KDL::Twist twist_meas_

Private Member Functions

void command (const geometry_msgs::TwistConstPtr &twist_msg)

Private Attributes

pr2_mechanism_model::Chain chain_
std::vector< control_toolbox::Pidfb_pid_controller_
double ff_rot_
double ff_trans_
boost::scoped_ptr
< KDL::ChainJntToJacSolver
jac_solver_
KDL::Jacobian jacobian_
KDL::JntArray jnt_eff_
KDL::JntArrayVel jnt_posvel_
boost::scoped_ptr
< KDL::ChainFkSolverVel
jnt_to_twist_solver_
KDL::Chain kdl_chain_
ros::Time last_time_
ros::NodeHandle node_
pr2_mechanism_model::RobotStaterobot_state_
ros::Subscriber sub_command_
geometry_msgs::Twist twist_msg_
KDL::Wrench wrench_out_

Detailed Description

Definition at line 81 of file cartesian_twist_controller.h.


Constructor & Destructor Documentation

Definition at line 46 of file cartesian_twist_controller.cpp.

Definition at line 53 of file cartesian_twist_controller.cpp.


Member Function Documentation

void controller::CartesianTwistController::command ( const geometry_msgs::TwistConstPtr &  twist_msg) [private]

Definition at line 176 of file cartesian_twist_controller.cpp.

Reimplemented from pr2_controller_interface::Controller.

Definition at line 119 of file cartesian_twist_controller.cpp.


Member Data Documentation

Definition at line 107 of file cartesian_twist_controller.h.

Definition at line 103 of file cartesian_twist_controller.h.

Definition at line 99 of file cartesian_twist_controller.h.

Definition at line 99 of file cartesian_twist_controller.h.

Definition at line 112 of file cartesian_twist_controller.h.

Definition at line 115 of file cartesian_twist_controller.h.

Definition at line 114 of file cartesian_twist_controller.h.

Definition at line 113 of file cartesian_twist_controller.h.

Definition at line 111 of file cartesian_twist_controller.h.

Definition at line 110 of file cartesian_twist_controller.h.

Definition at line 100 of file cartesian_twist_controller.h.

Definition at line 96 of file cartesian_twist_controller.h.

Definition at line 106 of file cartesian_twist_controller.h.

Definition at line 97 of file cartesian_twist_controller.h.

Definition at line 93 of file cartesian_twist_controller.h.

Definition at line 93 of file cartesian_twist_controller.h.

geometry_msgs::Twist controller::CartesianTwistController::twist_msg_ [private]

Definition at line 118 of file cartesian_twist_controller.h.

Definition at line 116 of file cartesian_twist_controller.h.


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


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Fri Jan 3 2014 11:41:37