#include <joint_spline_trajectory_action_controller.hpp>

Classes
struct	Segment
struct	Spline
Public Member Functions
	JointTrajectoryActionController ()
	JointTrajectoryActionController ()
	~JointTrajectoryActionController ()
	~JointTrajectoryActionController ()
Private Types
typedef std::map< std::string, ros::Publisher >	JointPubMap
typedef std::vector < trajectory_msgs::JointTrajectoryPoint >	JointTrajectoryPointVec
typedef actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	JTAS
typedef actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	JTAS
typedef std::vector< Segment >	SpecifiedTrajectory
Private Member Functions
void	commandCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
void	execute_trajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
void	execute_trajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
bool	getPosition (std::string joint_name, double &position)
void	updateJointState ()
Static Private Member Functions
static void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
Private Attributes
boost::shared_ptr< JTAS >	action_server
ros::Subscriber	command_sub
std::vector< ros::Publisher >	controller_publishers
	This vector stores publishers to each joint controller.
ros::Publisher	desired_joint_state_pusblisher
std::vector< std::string >	joint_names_
JointPubMap	joint_pub
ros::ServiceClient	joint_state_client
std::map< std::string, unsigned int >	joint_state_idx_map
	stores a map of publisher associated with joint index
std::map< std::string, double >	joint_state_map
std::map< std::string, std::string >	jointControllerMap
	stores a map of controller name and associated joints
std::map< std::string, unsigned int >	jointPubIdxMap
ros::Time	last_time_
ros::NodeHandle	nh
ros::NodeHandle	nh_tilde
std::vector< double >	q
std::vector< double >	qd
std::vector< double >	qdd
ros::Publisher	sr_arm_target_pub
ros::Publisher	sr_hand_target_pub
bool	use_sendupdate
	store internal order of joints

Detailed Description

Definition at line 24 of file joint_spline_trajectory_action_controller.hpp.

Member Typedef Documentation

typedef std::map<std::string, ros::Publisher> shadowrobot::JointTrajectoryActionController::JointPubMap [private]

Definition at line 27 of file joint_trajectory_action_controller.hpp.

typedef std::vector<trajectory_msgs::JointTrajectoryPoint> shadowrobot::JointTrajectoryActionController::JointTrajectoryPointVec [private]

Definition at line 26 of file joint_trajectory_action_controller.hpp.

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> shadowrobot::JointTrajectoryActionController::JTAS [private]

Definition at line 25 of file joint_trajectory_action_controller.hpp.

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> shadowrobot::JointTrajectoryActionController::JTAS [private]

Definition at line 26 of file joint_spline_trajectory_action_controller.hpp.

typedef std::vector<Segment> shadowrobot::JointTrajectoryActionController::SpecifiedTrajectory [private]

Definition at line 69 of file joint_spline_trajectory_action_controller.hpp.

Constructor & Destructor Documentation

shadowrobot::JointTrajectoryActionController::JointTrajectoryActionController ( )

Definition at line 118 of file joint_spline_trajectory_action_controller.cpp.

shadowrobot::JointTrajectoryActionController::~JointTrajectoryActionController ( )

Definition at line 248 of file joint_spline_trajectory_action_controller.cpp.

shadowrobot::JointTrajectoryActionController::JointTrajectoryActionController ( )

shadowrobot::JointTrajectoryActionController::~JointTrajectoryActionController ( )

Member Function Documentation

void shadowrobot::JointTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectoryConstPtr & msg ) [private]

Definition at line 592 of file joint_spline_trajectory_action_controller.cpp.

void shadowrobot::JointTrajectoryActionController::execute_trajectory ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Definition at line 288 of file joint_spline_trajectory_action_controller.cpp.

bool shadowrobot::JointTrajectoryActionController::getPosition	(	std::string	joint_name,
		double &	position
	)		`[private]`

Definition at line 272 of file joint_spline_trajectory_action_controller.cpp.

void shadowrobot::JointTrajectoryActionController::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		double	duration,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)		`[static, private]`