pr2_teleop::JTTaskController Class Reference

Inheritance diagram for pr2_teleop::JTTaskController:

List of all members.

Public Member Functions
void	commandPose (const geometry_msgs::PoseStamped::ConstPtr &command)
void	commandPosture (const std_msgs::Float64MultiArray::ConstPtr &msg)
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	JTTaskController ()
void	setGains (const teleop_controllers::CartesianGains::ConstPtr &msg)
void	starting ()
void	update ()
	~JTTaskController ()
Public Attributes
pr2_mechanism_model::Chain	chain_
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
double	jacobian_inverse_damping_
JointVec	joint_dd_ff_
double	joint_vel_filter_
double	k_posture_
Eigen::Matrix< double, 6, 1 >	Kd
boost::scoped_ptr< Kin< Joints > >	kin_
Eigen::Matrix< double, 6, 1 >	Kp
double	last_compliance_
double	last_Df_
double	last_Dx_
Eigen::Affine3d	last_pose_
double	last_stiffness_
ros::Time	last_time_
CartVec	last_wrench_
int	loop_count_
ros::NodeHandle	node_
double	pose_command_filter_
rosrt::Publisher< StateMsg >	pub_state_
rosrt::Publisher < std_msgs::Float64MultiArray >	pub_tau_
rosrt::Publisher < geometry_msgs::Twist >	pub_wrench_
rosrt::Publisher < geometry_msgs::PoseStamped >	pub_x_
rosrt::Publisher < geometry_msgs::PoseStamped >	pub_x_desi_
rosrt::Publisher < geometry_msgs::Twist >	pub_x_err_
rosrt::Publisher < geometry_msgs::Twist >	pub_xd_
rosrt::Publisher < geometry_msgs::Twist >	pub_xd_desi_
JointVec	q_posture_
JointVec	qdot_filtered_
double	res_force_
double	res_orientation_
double	res_position_
double	res_torque_
pr2_mechanism_model::RobotState *	robot_state_
std::string	root_name_
JointVec	saturation_
Eigen::Matrix< double, 6, 6 >	St
ros::Subscriber	sub_gains_
ros::Subscriber	sub_pose_
ros::Subscriber	sub_posture_
tf::TransformListener	tf_
std::string	tip_name_
bool	use_posture_
bool	use_tip_frame_
double	vel_saturation_rot_
double	vel_saturation_trans_
CartVec	wrench_desi_
Eigen::Affine3d	x_desi_
Eigen::Affine3d	x_desi_filtered_
Private Types
enum	{ Joints = 7 }
typedef Eigen::Matrix< double, 6, 1 >	CartVec
typedef Eigen::Matrix< double, 6, Joints >	Jacobian
typedef Eigen::Matrix< double, Joints, 1 >	JointVec
typedef teleop_controllers::JTTaskControllerState	StateMsg

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Detailed Description

Definition at line 105 of file jt_task_controller.cpp.

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Member Typedef Documentation

typedef Eigen::Matrix<double, 6, 1> pr2_teleop::JTTaskController::CartVec [private]

Definition at line 114 of file jt_task_controller.cpp.

typedef Eigen::Matrix<double, 6, Joints> pr2_teleop::JTTaskController::Jacobian [private]

Definition at line 115 of file jt_task_controller.cpp.

typedef Eigen::Matrix<double, Joints, 1> pr2_teleop::JTTaskController::JointVec [private]

Definition at line 113 of file jt_task_controller.cpp.

typedef teleop_controllers::JTTaskControllerState pr2_teleop::JTTaskController::StateMsg [private]

Definition at line 116 of file jt_task_controller.cpp.

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Member Enumeration Documentation

anonymous enum [private]

Enumerator:

Joints

Definition at line 112 of file jt_task_controller.cpp.

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Constructor & Destructor Documentation

pr2_teleop::JTTaskController::JTTaskController

(

)

Definition at line 287 of file jt_task_controller.cpp.

pr2_teleop::JTTaskController::~JTTaskController

(

)

Definition at line 291 of file jt_task_controller.cpp.

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Member Function Documentation

void pr2_teleop::JTTaskController::commandPose

(

const geometry_msgs::PoseStamped::ConstPtr &

command

)

[inline]

Definition at line 269 of file jt_task_controller.cpp.

void pr2_teleop::JTTaskController::commandPosture

(

const std_msgs::Float64MultiArray::ConstPtr &

msg

)

[inline]

Definition at line 251 of file jt_task_controller.cpp.

bool pr2_teleop::JTTaskController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 299 of file jt_task_controller.cpp.

void pr2_teleop::JTTaskController::setGains

(

const teleop_controllers::CartesianGains::ConstPtr &

msg

)

[inline]

Definition at line 185 of file jt_task_controller.cpp.

void pr2_teleop::JTTaskController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 430 of file jt_task_controller.cpp.

void pr2_teleop::JTTaskController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 461 of file jt_task_controller.cpp.

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Member Data Documentation

pr2_mechanism_model::Chain pr2_teleop::JTTaskController::chain_

Definition at line 145 of file jt_task_controller.cpp.

pr2_teleop::JTTaskController::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 110 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::jacobian_inverse_damping_

Definition at line 155 of file jt_task_controller.cpp.

JointVec pr2_teleop::JTTaskController::joint_dd_ff_

Definition at line 153 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::joint_vel_filter_

Definition at line 154 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::k_posture_

Definition at line 157 of file jt_task_controller.cpp.

Eigen::Matrix<double,6,1> pr2_teleop::JTTaskController::Kd

Definition at line 147 of file jt_task_controller.cpp.

boost::scoped_ptr<Kin<Joints> > pr2_teleop::JTTaskController::kin_

Definition at line 146 of file jt_task_controller.cpp.

Eigen::Matrix<double,6,1> pr2_teleop::JTTaskController::Kp

Definition at line 147 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::last_compliance_

Definition at line 166 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::last_Df_

Definition at line 167 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::last_Dx_

Definition at line 167 of file jt_task_controller.cpp.

Eigen::Affine3d pr2_teleop::JTTaskController::last_pose_

Definition at line 164 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::last_stiffness_

Definition at line 166 of file jt_task_controller.cpp.

ros::Time pr2_teleop::JTTaskController::last_time_

Definition at line 141 of file jt_task_controller.cpp.

CartVec pr2_teleop::JTTaskController::last_wrench_

Definition at line 165 of file jt_task_controller.cpp.

int pr2_teleop::JTTaskController::loop_count_

Definition at line 142 of file jt_task_controller.cpp.

ros::NodeHandle pr2_teleop::JTTaskController::node_

Definition at line 128 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::pose_command_filter_

Definition at line 150 of file jt_task_controller.cpp.

rosrt::Publisher<StateMsg> pr2_teleop::JTTaskController::pub_state_

Definition at line 134 of file jt_task_controller.cpp.

rosrt::Publisher<std_msgs::Float64MultiArray> pr2_teleop::JTTaskController::pub_tau_

Definition at line 138 of file jt_task_controller.cpp.

rosrt::Publisher<geometry_msgs::Twist> pr2_teleop::JTTaskController::pub_wrench_

Definition at line 137 of file jt_task_controller.cpp.

rosrt::Publisher<geometry_msgs::PoseStamped> pr2_teleop::JTTaskController::pub_x_

Definition at line 135 of file jt_task_controller.cpp.

rosrt::Publisher<geometry_msgs::PoseStamped> pr2_teleop::JTTaskController::pub_x_desi_

Definition at line 135 of file jt_task_controller.cpp.

rosrt::Publisher<geometry_msgs::Twist> pr2_teleop::JTTaskController::pub_x_err_

Definition at line 137 of file jt_task_controller.cpp.

rosrt::Publisher<geometry_msgs::Twist> pr2_teleop::JTTaskController::pub_xd_

Definition at line 136 of file jt_task_controller.cpp.

rosrt::Publisher<geometry_msgs::Twist> pr2_teleop::JTTaskController::pub_xd_desi_

Definition at line 136 of file jt_task_controller.cpp.

JointVec pr2_teleop::JTTaskController::q_posture_

Definition at line 156 of file jt_task_controller.cpp.

JointVec pr2_teleop::JTTaskController::qdot_filtered_

Definition at line 170 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::res_force_

Definition at line 161 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::res_orientation_

Definition at line 162 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::res_position_

Definition at line 161 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::res_torque_

Definition at line 162 of file jt_task_controller.cpp.

pr2_mechanism_model::RobotState* pr2_teleop::JTTaskController::robot_state_

Definition at line 143 of file jt_task_controller.cpp.

std::string pr2_teleop::JTTaskController::root_name_

Definition at line 140 of file jt_task_controller.cpp.

JointVec pr2_teleop::JTTaskController::saturation_

Definition at line 152 of file jt_task_controller.cpp.

Eigen::Matrix<double,6,6> pr2_teleop::JTTaskController::St

Definition at line 148 of file jt_task_controller.cpp.

ros::Subscriber pr2_teleop::JTTaskController::sub_gains_

Definition at line 129 of file jt_task_controller.cpp.

ros::Subscriber pr2_teleop::JTTaskController::sub_pose_

Definition at line 131 of file jt_task_controller.cpp.

ros::Subscriber pr2_teleop::JTTaskController::sub_posture_

Definition at line 130 of file jt_task_controller.cpp.

tf::TransformListener pr2_teleop::JTTaskController::tf_

Definition at line 132 of file jt_task_controller.cpp.

std::string pr2_teleop::JTTaskController::tip_name_

Definition at line 140 of file jt_task_controller.cpp.

bool pr2_teleop::JTTaskController::use_posture_

Definition at line 158 of file jt_task_controller.cpp.

bool pr2_teleop::JTTaskController::use_tip_frame_

Definition at line 149 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::vel_saturation_rot_

Definition at line 151 of file jt_task_controller.cpp.

double pr2_teleop::JTTaskController::vel_saturation_trans_

Definition at line 151 of file jt_task_controller.cpp.

CartVec pr2_teleop::JTTaskController::wrench_desi_

Definition at line 126 of file jt_task_controller.cpp.

Eigen::Affine3d pr2_teleop::JTTaskController::x_desi_

Definition at line 125 of file jt_task_controller.cpp.

Eigen::Affine3d pr2_teleop::JTTaskController::x_desi_filtered_

Definition at line 125 of file jt_task_controller.cpp.

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

• jt_task_controller.cpp