#include <cob_articulation.h>

Public Member Functions
void	calculateProfile (std::vector< double > *, double, double, double, std::string)
void	calculateProfileForAngularMovements (std::vector< double > *pathMatrix, double, double, double, double, double, double, double, double, double, std::string, bool)
void	circular_interpolation (std::vector< geometry_msgs::Pose > *, double, double, double, double, double, double, double, double, double, double, double, std::string)
bool	epsilon_area (double, double, double, double, double, double, double)
void	generatePath (std::vector< double > *, double, double, double, double, int, std::string)
void	generatePathWithTe (std::vector< double > *pathArray, double T_IPO, double te, double AcclMax, double Se_max, int steps_max, double start_angle, std::string profile)
geometry_msgs::Pose	getEndeffectorPose ()
void	hold_position (geometry_msgs::Pose)
bool	initialize ()
void	linear_interpolation (std::vector< geometry_msgs::Pose > *poseVector, geometry_msgs::Pose, geometry_msgs::Pose, double, double, std::string, bool)
void	load ()
void	move_ptp (geometry_msgs::Pose targetPose, double epsilon)
void	pose_path_broadcaster (std::vector< geometry_msgs::Pose > *)
void	PoseToRPY (geometry_msgs::Pose pose, double &roll, double &pitch, double &yaw)
void	showDot (double, double, double, int, double, double, double, std::string)
void	showLevel (tf::Transform, int, double, double, double, std::string)
void	showMarker (tf::StampedTransform, int, double, double, double, std::string)
void	start_tracking ()
void	stop_tracking ()
void	timerCallback (const ros::TimerEvent &)
Private Attributes
ros::Publisher	accl_pub_
tf::TransformBroadcaster	br_
const char *	charPath_
tf::StampedTransform	currentEndeffectorStampedTransform_
std::string	endeffectorFrame_
std::string	fileName_
bool	hold_
ros::Publisher	jerk_pub_
tf::TransformListener	listener_
int	marker1_
int	marker2_
ros::NodeHandle	nh_
ros::Publisher	path_pub_
tf::Quaternion	q_
bool	reached_pos_
std::string	referenceFrame_
ros::Publisher	speed_pub_
ros::ServiceClient	startTracking_
ros::ServiceClient	stopTracking_
std::string	stringPath_
std::string	targetFrame_
tf::Transform	transform_
double	update_rate_
ros::Publisher	vis_pub_

Detailed Description

Definition at line 41 of file cob_articulation.h.

Member Function Documentation

void CobArticulation::calculateProfile	(	std::vector< double > *	pathArray,
		double	Se,
		double	VelMax,
		double	AcclMax,
		std::string	profile
	)

Definition at line 533 of file cob_articulation.cpp.

void CobArticulation::calculateProfileForAngularMovements	(	std::vector< double > *	pathMatrix,
		double	Se,
		double	Se_roll,
		double	Se_pitch,
		double	Se_yaw,
		double	start_angle_roll,
		double	start_angle_pitch,
		double	start_angle_yaw,
		double	VelMax,
		double	AcclMax,
		std::string	profile,
		bool	justRotate
	)

Definition at line 614 of file cob_articulation.cpp.

void CobArticulation::circular_interpolation	(	std::vector< geometry_msgs::Pose > *	poseVector,
		double	M_x,
		double	M_y,
		double	M_z,
		double	M_roll,
		double	M_pitch,
		double	M_yaw,
		double	startAngle,
		double	endAngle,
		double	r,
		double	VelMax,
		double	AcclMax,
		std::string	profile
	)

Definition at line 454 of file cob_articulation.cpp.

bool CobArticulation::epsilon_area	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		double	epsilon
	)

Definition at line 766 of file cob_articulation.cpp.

void CobArticulation::generatePath	(	std::vector< double > *	pathArray,
		double	T_IPO,
		double	VelMax,
		double	AcclMax,
		double	Se_max,
		int	steps_max,
		std::string	profile
	)

Definition at line 918 of file cob_articulation.cpp.

void CobArticulation::generatePathWithTe	(	std::vector< double > *	pathArray,
		double	T_IPO,
		double	te,
		double	AcclMax,
		double	Se_max,
		int	steps_max,
		double	start_angle,
		std::string	profile
	)

Definition at line 984 of file cob_articulation.cpp.

geometry_msgs::Pose CobArticulation::getEndeffectorPose ( )

Definition at line 732 of file cob_articulation.cpp.

void CobArticulation::hold_position ( geometry_msgs::Pose holdPose )

Definition at line 361 of file cob_articulation.cpp.

bool CobArticulation::initialize ( )

get params

Definition at line 43 of file cob_articulation.cpp.

void CobArticulation::linear_interpolation	(	std::vector< geometry_msgs::Pose > *	poseVector,
		geometry_msgs::Pose	start,
		geometry_msgs::Pose	end,
		double	VelMax,
		double	AcclMax,
		std::string	profile,
		bool	justRotate
	)