Public Member Functions | Public Attributes
genericArmCtrl Class Reference

#include <genericArmCtrl.h>

List of all members.

Public Member Functions

 genericArmCtrl (int DOF, double PTPvel=0.7, double PTPacc=0.2, double maxError=0.7)
std::vector< double > GetPTPacc () const
std::vector< double > GetPTPvel () const
bool moveThetas (std::vector< double > conf_goal, std::vector< double > conf_current)
 Will move the component to a goal configuration in Joint Space.
bool moveTrajectory (trajectory_msgs::JointTrajectory pfad, std::vector< double > conf_current)
void SetPTPacc (double acc)
void SetPTPvel (double vel)
bool step (std::vector< double > current_pos, std::vector< double > &desired_vel)
 ~genericArmCtrl ()

Public Attributes

bool isMoving
std::vector< double > m_acc_js
double m_AllowedError
double m_CurrentError
int m_DOF
double m_ExtraTime
double m_P
RefVal_JSm_pRefVals
double m_TargetError
std::vector< double > m_vel_js
double m_Vorsteuer
TimeStamp startTime_
double TotalTime_

Detailed Description

Definition at line 16 of file genericArmCtrl.h.


Constructor & Destructor Documentation

genericArmCtrl::genericArmCtrl ( int  DOF,
double  PTPvel = 0.7,
double  PTPacc = 0.2,
double  maxError = 0.7 
)

Definition at line 41 of file genericArmCtrl.cpp.

Definition at line 66 of file genericArmCtrl.cpp.


Member Function Documentation

std::vector< double > genericArmCtrl::GetPTPacc ( ) const

Definition at line 79 of file genericArmCtrl.cpp.

std::vector< double > genericArmCtrl::GetPTPvel ( ) const

Definition at line 76 of file genericArmCtrl.cpp.

bool genericArmCtrl::moveThetas ( std::vector< double >  conf_goal,
std::vector< double >  conf_current 
)

Will move the component to a goal configuration in Joint Space.

Definition at line 108 of file genericArmCtrl.cpp.

bool genericArmCtrl::moveTrajectory ( trajectory_msgs::JointTrajectory  pfad,
std::vector< double >  conf_current 
)

Definition at line 137 of file genericArmCtrl.cpp.

void genericArmCtrl::SetPTPacc ( double  acc)

Definition at line 96 of file genericArmCtrl.cpp.

void genericArmCtrl::SetPTPvel ( double  vel)

Definition at line 89 of file genericArmCtrl.cpp.

bool genericArmCtrl::step ( std::vector< double >  current_pos,
std::vector< double > &  desired_vel 
)

Definition at line 204 of file genericArmCtrl.cpp.


Member Data Documentation

Definition at line 44 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::m_acc_js

Definition at line 43 of file genericArmCtrl.h.

Definition at line 50 of file genericArmCtrl.h.

Definition at line 51 of file genericArmCtrl.h.

Definition at line 38 of file genericArmCtrl.h.

Definition at line 53 of file genericArmCtrl.h.

Definition at line 48 of file genericArmCtrl.h.

Definition at line 40 of file genericArmCtrl.h.

Definition at line 52 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::m_vel_js

Definition at line 42 of file genericArmCtrl.h.

Definition at line 49 of file genericArmCtrl.h.

Definition at line 46 of file genericArmCtrl.h.

Definition at line 47 of file genericArmCtrl.h.


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


cob_trajectory_controller
Author(s): Alexander Bubeck
autogenerated on Sun Oct 5 2014 23:02:43