controller::TFFController Class Reference

#include <tff_controller.h>

Inheritance diagram for controller::TFFController:

List of all members.

Public Member Functions
void	command (const tff_controller::TaskFrameFormalismConstPtr &tff_msg)
bool	init (pr2_mechanism_model::RobotState *robot_state, ros::NodeHandle &n)
void	starting ()
	TFFController ()
void	update ()
	~TFFController ()
Private Attributes
pr2_mechanism_model::Chain	chain_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_eff_
KDL::JntArray	jnt_pos_
KDL::JntArrayVel	jnt_posvel_
boost::scoped_ptr < KDL::ChainJntToJacSolver >	jnt_to_jac_solver_
boost::scoped_ptr < KDL::ChainFkSolverVel >	jnt_to_twist_solver_
KDL::Chain	kdl_chain_
ros::Time	last_time_
unsigned int	loop_count_
std::vector< int >	mode_
ros::NodeHandle	node_
std::vector< control_toolbox::Pid >	pos_pid_controller_
KDL::Frame	pose_meas_
KDL::Frame	pose_meas_old_
KDL::Twist	position_
pr2_mechanism_model::RobotState *	robot_state_
boost::scoped_ptr < realtime_tools::RealtimePublisher < geometry_msgs::Twist > >	state_position_publisher_
ros::Subscriber	sub_command_
KDL::Twist	twist_meas_
std::vector< double >	twist_to_wrench_
std::vector< double >	value_
std::vector< control_toolbox::Pid >	vel_pid_controller_
KDL::Wrench	wrench_desi_

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Detailed Description

Definition at line 56 of file tff_controller.h.

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Constructor & Destructor Documentation

controller::TFFController::TFFController

(

)

Definition at line 49 of file tff_controller.cpp.

controller::TFFController::~TFFController

(

)

Definition at line 60 of file tff_controller.cpp.

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Member Function Documentation

void controller::TFFController::command

(

const tff_controller::TaskFrameFormalismConstPtr &

tff_msg

)

Definition at line 235 of file tff_controller.cpp.

bool controller::TFFController::init	(	pr2_mechanism_model::RobotState *	robot_state,
		ros::NodeHandle &	n
	)		[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 65 of file tff_controller.cpp.

void controller::TFFController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 136 of file tff_controller.cpp.

void controller::TFFController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 167 of file tff_controller.cpp.

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Member Data Documentation

pr2_mechanism_model::Chain controller::TFFController::chain_ [private]

Definition at line 78 of file tff_controller.h.

KDL::Jacobian controller::TFFController::jacobian_ [private]

Definition at line 86 of file tff_controller.h.

KDL::JntArray controller::TFFController::jnt_eff_ [private]

Definition at line 85 of file tff_controller.h.

KDL::JntArray controller::TFFController::jnt_pos_ [private]

Definition at line 85 of file tff_controller.h.

KDL::JntArrayVel controller::TFFController::jnt_posvel_ [private]

Definition at line 83 of file tff_controller.h.

boost::scoped_ptr<KDL::ChainJntToJacSolver> controller::TFFController::jnt_to_jac_solver_ [private]

Definition at line 84 of file tff_controller.h.

boost::scoped_ptr<KDL::ChainFkSolverVel> controller::TFFController::jnt_to_twist_solver_ [private]

Definition at line 82 of file tff_controller.h.

KDL::Chain controller::TFFController::kdl_chain_ [private]

Definition at line 81 of file tff_controller.h.

ros::Time controller::TFFController::last_time_ [private]

Definition at line 71 of file tff_controller.h.

unsigned int controller::TFFController::loop_count_ [private]

Definition at line 99 of file tff_controller.h.

std::vector<int> controller::TFFController::mode_ [private]

Definition at line 89 of file tff_controller.h.

ros::NodeHandle controller::TFFController::node_ [private]

Definition at line 69 of file tff_controller.h.

std::vector<control_toolbox::Pid> controller::TFFController::pos_pid_controller_ [private]

Definition at line 74 of file tff_controller.h.

KDL::Frame controller::TFFController::pose_meas_ [private]

Definition at line 96 of file tff_controller.h.

KDL::Frame controller::TFFController::pose_meas_old_ [private]

Definition at line 96 of file tff_controller.h.

KDL::Twist controller::TFFController::position_ [private]

Definition at line 95 of file tff_controller.h.

pr2_mechanism_model::RobotState* controller::TFFController::robot_state_ [private]

Definition at line 77 of file tff_controller.h.

boost::scoped_ptr<realtime_tools::RealtimePublisher<geometry_msgs::Twist> > controller::TFFController::state_position_publisher_ [private]

Definition at line 98 of file tff_controller.h.

ros::Subscriber controller::TFFController::sub_command_ [private]

Definition at line 70 of file tff_controller.h.

KDL::Twist controller::TFFController::twist_meas_ [private]

Definition at line 95 of file tff_controller.h.

std::vector<double> controller::TFFController::twist_to_wrench_ [private]

Definition at line 90 of file tff_controller.h.

std::vector<double> controller::TFFController::value_ [private]

Definition at line 90 of file tff_controller.h.

std::vector<control_toolbox::Pid> controller::TFFController::vel_pid_controller_ [private]

Definition at line 74 of file tff_controller.h.

KDL::Wrench controller::TFFController::wrench_desi_ [private]

Definition at line 93 of file tff_controller.h.

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

• tff_controller.h
• tff_controller.cpp