#include <move_joint_group.h>

Public Member Functions
void	cancel ()
	Cancel the current goal.
const JointNames &	getJointNames () const
	Returns the list of associated joints.
const std::string &	getName () const
	Returns the name that was used when creating the MoveJointGroup.
actionlib::SimpleClientGoalState	getState ()
	Returns the action client state.
bool	isControllingJoint (const std::string &joint_name)
	Returns true if the specified joint is controlled by the controller. joint_name Joint name.
bool	isIdle () const
	Returns true if the MoveJointGroup is ready to accept a new goal.
	MoveJointGroup (const std::string &controller_name, const JointNames &joint_names)
bool	sendGoal (const std::vector< TrajPoint > &traj)
	Send a trajectory goal to the associated controller.
void	setCallback (const Callback &cb)
	Register the callback to be called when the action is finished.
Private Types
typedef actionlib::SimpleActionClient < control_msgs::FollowJointTrajectoryAction >	ActionClient
typedef control_msgs::FollowJointTrajectoryGoal	ActionGoal
typedef control_msgs::FollowJointTrajectoryResult	ActionResult
typedef boost::shared_ptr < const ActionResult >	ActionResultPtr
typedef boost::function< void(int)>	Callback
Private Member Functions
void	alCallback ()
Private Attributes
Callback	active_cb_
	Call this when we are called back from the controller.
bool	busy_
ActionClient	client_
	Action client used to trigger motions.
ros::Timer	configure_timer_
	To periodically check for controller actionlib server.
std::string	controller_name_
	Controller name. XXX: is this needed?
JointNames	joint_names_
	Names of controller joints.
ros::NodeHandle	nh_
	Default node handle.

Detailed Description

Move a joint group to a given pose. The pose will be reached within a specified duration with zero velocity.

Definition at line 55 of file move_joint_group.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> play_motion::MoveJointGroup::ActionClient [private]

Definition at line 59 of file move_joint_group.h.

typedef control_msgs::FollowJointTrajectoryGoal play_motion::MoveJointGroup::ActionGoal [private]

Definition at line 60 of file move_joint_group.h.

typedef control_msgs::FollowJointTrajectoryResult play_motion::MoveJointGroup::ActionResult [private]

Definition at line 61 of file move_joint_group.h.

typedef boost::shared_ptr<const ActionResult> play_motion::MoveJointGroup::ActionResultPtr [private]

Definition at line 62 of file move_joint_group.h.

typedef boost::function<void(int)> play_motion::MoveJointGroup::Callback [private]

Definition at line 63 of file move_joint_group.h.

Constructor & Destructor Documentation

play_motion::MoveJointGroup::MoveJointGroup	(	const std::string &	controller_name,
		const JointNames &	joint_names
	)

Definition at line 47 of file move_joint_group.cpp.

Member Function Documentation

void play_motion::MoveJointGroup::alCallback ( ) [private]

Definition at line 54 of file move_joint_group.cpp.

void play_motion::MoveJointGroup::cancel ( )

Cancel the current goal.

Definition at line 67 of file move_joint_group.cpp.

const JointNames & play_motion::MoveJointGroup::getJointNames ( ) const

Returns the list of associated joints.

Definition at line 78 of file move_joint_group.cpp.

const std::string & play_motion::MoveJointGroup::getName ( ) const

Returns the name that was used when creating the MoveJointGroup.

Definition at line 88 of file move_joint_group.cpp.

actionlib::SimpleClientGoalState play_motion::MoveJointGroup::getState ( )

Returns the action client state.

Definition at line 83 of file move_joint_group.cpp.

bool play_motion::MoveJointGroup::isControllingJoint ( const std::string & joint_name )

Returns true if the specified joint is controlled by the controller. joint_name Joint name.

Definition at line 93 of file move_joint_group.cpp.

bool play_motion::MoveJointGroup::isIdle ( ) const

Returns true if the MoveJointGroup is ready to accept a new goal.

Note:: This is independent from the state of the controller, but if the controller cannot be reached, isIdle() will always return false.

Definition at line 62 of file move_joint_group.cpp.

bool play_motion::MoveJointGroup::sendGoal ( const std::vector< TrajPoint > & traj )

Send a trajectory goal to the associated controller.

Parameters:

traj	The trajectory to send

Definition at line 105 of file move_joint_group.cpp.

void play_motion::MoveJointGroup::setCallback ( const Callback & cb )

Register the callback to be called when the action is finished.

Parameters:

cb	The callback

Definition at line 73 of file move_joint_group.cpp.

Member Data Documentation

Callback play_motion::MoveJointGroup::active_cb_ [private]

Call this when we are called back from the controller.

Definition at line 121 of file move_joint_group.h.

bool play_motion::MoveJointGroup::busy_ [private]

Definition at line 116 of file move_joint_group.h.

ActionClient play_motion::MoveJointGroup::client_ [private]

Action client used to trigger motions.

Definition at line 120 of file move_joint_group.h.

ros::Timer play_motion::MoveJointGroup::configure_timer_ [private]

To periodically check for controller actionlib server.

Definition at line 122 of file move_joint_group.h.

std::string play_motion::MoveJointGroup::controller_name_ [private]

Controller name. XXX: is this needed?

Definition at line 118 of file move_joint_group.h.

JointNames play_motion::MoveJointGroup::joint_names_ [private]

Names of controller joints.

Definition at line 119 of file move_joint_group.h.

ros::NodeHandle play_motion::MoveJointGroup::nh_ [private]

Default node handle.

Definition at line 117 of file move_joint_group.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation