controller::JointTrajectoryActionController Class Reference

#include <joint_trajectory_action_controller.h>

Inheritance diagram for controller::JointTrajectoryActionController:

List of all members.

Public Member Functions
bool	initialize (std::string name, std::vector< SingleJointController * > deps)
	JointTrajectoryActionController ()
void	processCommand (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	processFollowTrajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	processTrajectory (const trajectory_msgs::JointTrajectory &traj, bool is_action)
void	start ()
void	stop ()
void	updateState ()
virtual	~JointTrajectoryActionController ()
Private Types
typedef actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	FJTAS
Private Attributes
boost::scoped_ptr< FJTAS >	action_server_
ros::Subscriber	command_sub_
boost::thread *	feedback_thread_
std::vector< double >	goal_constraints_
double	goal_time_constraint_
double	min_velocity_
control_msgs::FollowJointTrajectoryFeedback	msg_
ros::Publisher	state_pub_
int	state_update_rate_
double	stopped_velocity_tolerance_
bool	terminate_
boost::mutex	terminate_mutex_
std::vector< Segment >	trajectory_
std::vector< double >	trajectory_constraints_
int	update_rate_

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Detailed Description

Definition at line 30 of file joint_trajectory_action_controller.h.

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Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> controller::JointTrajectoryActionController::FJTAS [private]

Definition at line 62 of file joint_trajectory_action_controller.h.

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Constructor & Destructor Documentation

controller::JointTrajectoryActionController::JointTrajectoryActionController

(

)

virtual controller::JointTrajectoryActionController::~JointTrajectoryActionController

(

)

[virtual]

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Member Function Documentation

bool controller::JointTrajectoryActionController::initialize	(	std::string	name,
		std::vector< SingleJointController * >	deps
	)		[virtual]

Reimplemented from controller::MultiJointController.

void controller::JointTrajectoryActionController::processCommand

(

const trajectory_msgs::JointTrajectoryConstPtr &

msg

)

void controller::JointTrajectoryActionController::processFollowTrajectory

(

const control_msgs::FollowJointTrajectoryGoalConstPtr &

goal

)

void controller::JointTrajectoryActionController::processTrajectory	(	const trajectory_msgs::JointTrajectory &	traj,
		bool	is_action
	)

void controller::JointTrajectoryActionController::start

(

)

[virtual]

Implements controller::MultiJointController.

void controller::JointTrajectoryActionController::stop

(

)

[virtual]

Implements controller::MultiJointController.

void controller::JointTrajectoryActionController::updateState

(

)

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Member Data Documentation

boost::scoped_ptr<FJTAS> controller::JointTrajectoryActionController::action_server_ [private]

Definition at line 63 of file joint_trajectory_action_controller.h.

ros::Subscriber controller::JointTrajectoryActionController::command_sub_ [private]

Definition at line 59 of file joint_trajectory_action_controller.h.

boost::thread* controller::JointTrajectoryActionController::feedback_thread_ [private]

Definition at line 65 of file joint_trajectory_action_controller.h.

std::vector<double> controller::JointTrajectoryActionController::goal_constraints_ [private]

Definition at line 54 of file joint_trajectory_action_controller.h.

double controller::JointTrajectoryActionController::goal_time_constraint_ [private]

Definition at line 51 of file joint_trajectory_action_controller.h.

double controller::JointTrajectoryActionController::min_velocity_ [private]

Definition at line 53 of file joint_trajectory_action_controller.h.

control_msgs::FollowJointTrajectoryFeedback controller::JointTrajectoryActionController::msg_ [private]

Definition at line 57 of file joint_trajectory_action_controller.h.

ros::Publisher controller::JointTrajectoryActionController::state_pub_ [private]

Definition at line 60 of file joint_trajectory_action_controller.h.

int controller::JointTrajectoryActionController::state_update_rate_ [private]

Definition at line 48 of file joint_trajectory_action_controller.h.

double controller::JointTrajectoryActionController::stopped_velocity_tolerance_ [private]

Definition at line 52 of file joint_trajectory_action_controller.h.

bool controller::JointTrajectoryActionController::terminate_ [private]

Definition at line 67 of file joint_trajectory_action_controller.h.

boost::mutex controller::JointTrajectoryActionController::terminate_mutex_ [private]

Definition at line 66 of file joint_trajectory_action_controller.h.

std::vector<Segment> controller::JointTrajectoryActionController::trajectory_ [private]

Definition at line 49 of file joint_trajectory_action_controller.h.

std::vector<double> controller::JointTrajectoryActionController::trajectory_constraints_ [private]

Definition at line 55 of file joint_trajectory_action_controller.h.

int controller::JointTrajectoryActionController::update_rate_ [private]

Definition at line 47 of file joint_trajectory_action_controller.h.

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

• joint_trajectory_action_controller.h