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 >	last_q
std::vector< double >	last_q1
std::vector< double >	last_q2
std::vector< double >	last_q3
std::vector< double >	m_acc_js
double	m_AllowedError
double	m_CurrentError
int	m_DOF
double	m_ExtraTime
double	m_P
RefVal_JS *	m_pRefVals
double	m_TargetError
std::vector< double >	m_vel_js
double	m_Vorsteuer
double	overlap_time
TimeStamp	startTime_
double	TotalTime_

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Detailed Description

Definition at line 16 of file genericArmCtrl.h.

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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.

genericArmCtrl::~genericArmCtrl

(

)

Definition at line 66 of file genericArmCtrl.cpp.

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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.

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Member Data Documentation

bool genericArmCtrl::isMoving

Definition at line 50 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q

Definition at line 45 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q1

Definition at line 46 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q2

Definition at line 47 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::last_q3

Definition at line 48 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::m_acc_js

Definition at line 49 of file genericArmCtrl.h.

double genericArmCtrl::m_AllowedError

Definition at line 56 of file genericArmCtrl.h.

double genericArmCtrl::m_CurrentError

Definition at line 57 of file genericArmCtrl.h.

int genericArmCtrl::m_DOF

Definition at line 40 of file genericArmCtrl.h.

double genericArmCtrl::m_ExtraTime

Definition at line 59 of file genericArmCtrl.h.

double genericArmCtrl::m_P

Definition at line 54 of file genericArmCtrl.h.

RefVal_JS* genericArmCtrl::m_pRefVals

Definition at line 42 of file genericArmCtrl.h.

double genericArmCtrl::m_TargetError

Definition at line 58 of file genericArmCtrl.h.

std::vector<double> genericArmCtrl::m_vel_js

Definition at line 44 of file genericArmCtrl.h.

double genericArmCtrl::m_Vorsteuer

Definition at line 55 of file genericArmCtrl.h.

double genericArmCtrl::overlap_time

Definition at line 28 of file genericArmCtrl.h.

TimeStamp genericArmCtrl::startTime_

Definition at line 52 of file genericArmCtrl.h.

double genericArmCtrl::TotalTime_

Definition at line 53 of file genericArmCtrl.h.

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

• genericArmCtrl.h
• genericArmCtrl.cpp