#include <boost/thread.hpp>#include <boost/shared_ptr.hpp>#include <boost/scoped_ptr.hpp>#include <Eigen/Core>#include <Eigen/Geometry>#include <Eigen/LU>#include <kdl/chainfksolver.hpp>#include <kdl/chainfksolverpos_recursive.hpp>#include <kdl/chain.hpp>#include <kdl/chainjnttojacsolver.hpp>#include <kdl/frames.hpp>#include <ros/ros.h>#include <geometry_msgs/PoseStamped.h>#include <geometry_msgs/TwistStamped.h>#include <teleop_controllers/JTTaskControllerState.h>#include <teleop_controllers/CartesianGains.h>#include <pluginlib/class_list_macros.h>#include <angles/angles.h>#include <control_toolbox/pid.h>#include <eigen_conversions/eigen_kdl.h>#include <eigen_conversions/eigen_msg.h>#include <pr2_controller_interface/controller.h>#include <pr2_mechanism_model/chain.h>#include <realtime_tools/realtime_publisher.h>#include <tf/transform_listener.h>#include <rosrt/rosrt.h>
Include dependency graph for jt_task_controller.cpp:
Go to the source code of this file.
Classes | |
| class | pr2_teleop::JTTaskController |
| struct | pr2_teleop::Kin< Joints > |
Namespaces | |
| namespace | pr2_teleop |
Functions | |
| static void | pr2_teleop::computePoseError (const Eigen::Affine3d &xact, const Eigen::Affine3d &xdes, Eigen::Matrix< double, 6, 1 > &err) |