motoman::joint_trajectory_handler::JointTrajectoryHandler Class Reference

Message handler that relays joint trajectories to the motoman controller. More...

#include <joint_trajectory_handler.h>

List of all members.

Public Member Functions
unsigned int	getNextTrajectoryPoint (const trajectory_msgs::JointTrajectory &traj, const ros::Time &start, const ros::Time &cur)
void	jointTrajectoryCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
	JointTrajectoryHandler ()
	JointTrajectoryHandler (ros::NodeHandle &n, industrial::smpl_msg_connection::SmplMsgConnection *robotConnecton)
	Constructor.
void	trajectoryHandler ()
	~JointTrajectoryHandler ()
Private Member Functions
void	trajectoryStop ()
Private Attributes
trajectory_msgs::JointTrajectory	current_traj_
int	currentPoint
boost::mutex	mutex_
ros::NodeHandle	node_
industrial::smpl_msg_connection::SmplMsgConnection *	robot_
JointTrajectoryState	state_
ros::Time	streaming_start_
ros::Subscriber	sub_joint_tranectory_
boost::thread *	trajectoryHandler_
Static Private Attributes
static const int	NUM_OF_JOINTS_ = 7

---

Detailed Description

Message handler that relays joint trajectories to the motoman controller.

THIS CLASS IS NOT THREAD-SAFE

Definition at line 65 of file joint_trajectory_handler.h.

---

Constructor & Destructor Documentation

motoman::joint_trajectory_handler::JointTrajectoryHandler::JointTrajectoryHandler

(

)

Definition at line 44 of file joint_trajectory_handler.cpp.

motoman::joint_trajectory_handler::JointTrajectoryHandler::JointTrajectoryHandler	(	ros::NodeHandle &	n,
		industrial::smpl_msg_connection::SmplMsgConnection *	robotConnecton
	)

Constructor.

Parameters:

ROS	node handle (used for subscribing)
ROS	node handle (used for publishing (to the robot controller))

Definition at line 48 of file joint_trajectory_handler.cpp.

motoman::joint_trajectory_handler::JointTrajectoryHandler::~JointTrajectoryHandler

(

)

Definition at line 65 of file joint_trajectory_handler.cpp.

---

Member Function Documentation

unsigned int motoman::joint_trajectory_handler::JointTrajectoryHandler::getNextTrajectoryPoint	(	const trajectory_msgs::JointTrajectory &	traj,
		const ros::Time &	start,
		const ros::Time &	cur
	)

Definition at line 203 of file joint_trajectory_handler.cpp.

void motoman::joint_trajectory_handler::JointTrajectoryHandler::jointTrajectoryCB

(

const trajectory_msgs::JointTrajectoryConstPtr &

msg

)

Definition at line 72 of file joint_trajectory_handler.cpp.

void motoman::joint_trajectory_handler::JointTrajectoryHandler::trajectoryHandler

(

)

Definition at line 116 of file joint_trajectory_handler.cpp.

void motoman::joint_trajectory_handler::JointTrajectoryHandler::trajectoryStop

(

)

[private]

Definition at line 217 of file joint_trajectory_handler.cpp.

---

Member Data Documentation

trajectory_msgs::JointTrajectory motoman::joint_trajectory_handler::JointTrajectoryHandler::current_traj_ [private]

Definition at line 99 of file joint_trajectory_handler.h.

int motoman::joint_trajectory_handler::JointTrajectoryHandler::currentPoint [private]

Definition at line 98 of file joint_trajectory_handler.h.

boost::mutex motoman::joint_trajectory_handler::JointTrajectoryHandler::mutex_ [private]

Definition at line 98 of file joint_trajectory_handler.h.

ros::NodeHandle motoman::joint_trajectory_handler::JointTrajectoryHandler::node_ [private]

Definition at line 95 of file joint_trajectory_handler.h.

const int motoman::joint_trajectory_handler::JointTrajectoryHandler::NUM_OF_JOINTS_ = 7 [static, private]

Definition at line 103 of file joint_trajectory_handler.h.

industrial::smpl_msg_connection::SmplMsgConnection* motoman::joint_trajectory_handler::JointTrajectoryHandler::robot_ [private]

Definition at line 93 of file joint_trajectory_handler.h.

JointTrajectoryState motoman::joint_trajectory_handler::JointTrajectoryHandler::state_ [private]

Definition at line 100 of file joint_trajectory_handler.h.

ros::Time motoman::joint_trajectory_handler::JointTrajectoryHandler::streaming_start_ [private]

Definition at line 101 of file joint_trajectory_handler.h.

ros::Subscriber motoman::joint_trajectory_handler::JointTrajectoryHandler::sub_joint_tranectory_ [private]

Definition at line 94 of file joint_trajectory_handler.h.

boost::thread* motoman::joint_trajectory_handler::JointTrajectoryHandler::trajectoryHandler_ [private]

Definition at line 97 of file joint_trajectory_handler.h.

---

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

• joint_trajectory_handler.h
• joint_trajectory_handler.cpp