katana_gazebo_plugins::KatanaGripperGraspController Class Reference

#include <katana_gripper_grasp_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperGraspController:

List of all members.

Public Member Functions
void	cancelGoal ()
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
GRKAPoint	getNextDesiredPoint (ros::Time time)
bool	hasActiveGoal () const
	KatanaGripperGraspController (ros::NodeHandle private_nodehandle)
void	setCurrentPoint (GRKAPoint point)
virtual	~KatanaGripperGraspController ()
Private Member Functions
void	executeCB (const control_msgs::GripperCommandGoalConstPtr &goal)
bool	serviceCallback (control_msgs::QueryTrajectoryState::Request &request, control_msgs::QueryTrajectoryState::Response &response)
void	setDesiredAngle (double desired_angle)
Private Attributes
actionlib::SimpleActionServer < control_msgs::GripperCommandAction > *	action_server_
	Action server for the grasp posture action.
double	current_angle_
double	desired_angle_
double	goal_threshold_
double	gripper_object_presence_threshold_
	A joint angle below this value indicates there is nothing inside the gripper.
bool	has_new_desired_angle_
ros::ServiceServer	query_srv_
	Server for the posture query service.

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Detailed Description

Definition at line 42 of file katana_gripper_grasp_controller.h.

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Constructor & Destructor Documentation

katana_gazebo_plugins::KatanaGripperGraspController::KatanaGripperGraspController

(

ros::NodeHandle

private_nodehandle

)

Definition at line 47 of file katana_gripper_grasp_controller.cpp.

katana_gazebo_plugins::KatanaGripperGraspController::~KatanaGripperGraspController

(

)

[virtual]

Definition at line 65 of file katana_gripper_grasp_controller.cpp.

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Member Function Documentation

void katana_gazebo_plugins::KatanaGripperGraspController::cancelGoal

(

)

[inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 70 of file katana_gripper_grasp_controller.h.

void katana_gazebo_plugins::KatanaGripperGraspController::executeCB

(

const control_msgs::GripperCommandGoalConstPtr &

goal

)

[private]

Definition at line 70 of file katana_gripper_grasp_controller.cpp.

void katana_gazebo_plugins::KatanaGripperGraspController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		[virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 111 of file katana_gripper_grasp_controller.cpp.

GRKAPoint katana_gazebo_plugins::KatanaGripperGraspController::getNextDesiredPoint

(

ros::Time

time

)

[inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 48 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::hasActiveGoal

(

)

const [inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 63 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::serviceCallback	(	control_msgs::QueryTrajectoryState::Request &	request,
		control_msgs::QueryTrajectoryState::Response &	response
	)		[private]

Definition at line 103 of file katana_gripper_grasp_controller.cpp.

void katana_gazebo_plugins::KatanaGripperGraspController::setCurrentPoint

(

GRKAPoint

point

)

[inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 58 of file katana_gripper_grasp_controller.h.

void katana_gazebo_plugins::KatanaGripperGraspController::setDesiredAngle

(

double

desired_angle

)

[inline, private]

Definition at line 90 of file katana_gripper_grasp_controller.h.

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Member Data Documentation

actionlib::SimpleActionServer<control_msgs::GripperCommandAction>* katana_gazebo_plugins::KatanaGripperGraspController::action_server_ [private]

Action server for the grasp posture action.

Definition at line 77 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::current_angle_ [private]

Definition at line 98 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::desired_angle_ [private]

Definition at line 97 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::goal_threshold_ [private]

Definition at line 96 of file katana_gripper_grasp_controller.h.

double katana_gazebo_plugins::KatanaGripperGraspController::gripper_object_presence_threshold_ [private]

A joint angle below this value indicates there is nothing inside the gripper.

Definition at line 83 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::has_new_desired_angle_ [private]

Definition at line 99 of file katana_gripper_grasp_controller.h.

ros::ServiceServer katana_gazebo_plugins::KatanaGripperGraspController::query_srv_ [private]

Server for the posture query service.

Definition at line 80 of file katana_gripper_grasp_controller.h.

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

• katana_gripper_grasp_controller.h
• katana_gripper_grasp_controller.cpp