ControlHead Class Reference

List of all members.

Public Member Functions
void	cancelCB (GoalHandle gh)
	ControlHead (const ros::NodeHandle &node)
void	controllerStateCB (const control_msgs::JointTrajectoryControllerStateConstPtr &msg)
void	goalCB (GoalHandle gh)
void	watchdog (const ros::TimerEvent &e)
Private Types
typedef PHAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer < control_msgs::PointHeadAction >	PHAS
Private Attributes
const std::string	action_name_
PHAS	action_server_
GoalHandle	active_goal_
KDL::Chain	chain_
ros::ServiceClient	cli_query_traj_
std::string	default_pointing_frame_
tf::Vector3	desired_pointing_axis_in_frame_
double	goal_error_
bool	has_active_goal_
boost::scoped_ptr < KDL::ChainJntToJacSolver >	jac_solver_
std::vector< std::string >	joint_names_
control_msgs::JointTrajectoryControllerStateConstPtr	last_controller_state_
ros::NodeHandle	nh_
std::string	pan_link_
ros::NodeHandle	pnh_
tf::Vector3	pointing_axis_
std::string	pointing_frame_
boost::scoped_ptr < KDL::ChainFkSolverPos >	pose_solver_
ros::Publisher	pub_controller_command_
std::string	root_
ros::Subscriber	sub_controller_state_
double	success_angle_threshold_
tf::Point	target_in_root_
tf::TransformListener	tfl_
std::string	tip_
KDL::Tree	tree_
urdf::Model	urdf_model_
ros::Timer	watchdog_timer_

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Detailed Description

Definition at line 59 of file point_frame.cpp.

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Member Typedef Documentation

typedef PHAS::GoalHandle ControlHead::GoalHandle [private]

Definition at line 63 of file point_frame.cpp.

typedef actionlib::ActionServer<control_msgs::PointHeadAction> ControlHead::PHAS [private]

Definition at line 62 of file point_frame.cpp.

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Constructor & Destructor Documentation

ControlHead::ControlHead

(

const ros::NodeHandle &

node

)

[inline]

Definition at line 100 of file point_frame.cpp.

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Member Function Documentation

void ControlHead::cancelCB

(

GoalHandle

gh

)

[inline]

Definition at line 489 of file point_frame.cpp.

void ControlHead::controllerStateCB

(

const control_msgs::JointTrajectoryControllerStateConstPtr &

msg

)

[inline]

Todo:

Support frames that are not the pan link itself

Definition at line 504 of file point_frame.cpp.

void ControlHead::goalCB

(

GoalHandle

gh

)

[inline]

Definition at line 156 of file point_frame.cpp.

void ControlHead::watchdog

(

const ros::TimerEvent &

e

)

[inline]

Definition at line 455 of file point_frame.cpp.

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Member Data Documentation

const std::string ControlHead::action_name_ [private]

Definition at line 65 of file point_frame.cpp.

PHAS ControlHead::action_server_ [private]

Definition at line 80 of file point_frame.cpp.

GoalHandle ControlHead::active_goal_ [private]

Definition at line 82 of file point_frame.cpp.

KDL::Chain ControlHead::chain_ [private]

Definition at line 86 of file point_frame.cpp.

ros::ServiceClient ControlHead::cli_query_traj_ [private]

Definition at line 77 of file point_frame.cpp.

std::string ControlHead::default_pointing_frame_ [private]

Definition at line 69 of file point_frame.cpp.

tf::Vector3 ControlHead::desired_pointing_axis_in_frame_ [private]

Definition at line 88 of file point_frame.cpp.

double ControlHead::goal_error_ [private]

Definition at line 89 of file point_frame.cpp.

bool ControlHead::has_active_goal_ [private]

Definition at line 81 of file point_frame.cpp.

boost::scoped_ptr<KDL::ChainJntToJacSolver> ControlHead::jac_solver_ [private]

Definition at line 92 of file point_frame.cpp.

std::vector< std::string> ControlHead::joint_names_ [private]

Definition at line 72 of file point_frame.cpp.

control_msgs::JointTrajectoryControllerStateConstPtr ControlHead::last_controller_state_ [private]

Definition at line 97 of file point_frame.cpp.

ros::NodeHandle ControlHead::nh_ [private]

Definition at line 74 of file point_frame.cpp.

std::string ControlHead::pan_link_ [private]

Definition at line 68 of file point_frame.cpp.

ros::NodeHandle ControlHead::pnh_ [private]

Definition at line 74 of file point_frame.cpp.

tf::Vector3 ControlHead::pointing_axis_ [private]

Definition at line 71 of file point_frame.cpp.

std::string ControlHead::pointing_frame_ [private]

Definition at line 70 of file point_frame.cpp.

boost::scoped_ptr<KDL::ChainFkSolverPos> ControlHead::pose_solver_ [private]

Definition at line 91 of file point_frame.cpp.

ros::Publisher ControlHead::pub_controller_command_ [private]

Definition at line 75 of file point_frame.cpp.

std::string ControlHead::root_ [private]

Definition at line 66 of file point_frame.cpp.

ros::Subscriber ControlHead::sub_controller_state_ [private]

Definition at line 76 of file point_frame.cpp.

double ControlHead::success_angle_threshold_ [private]

Definition at line 83 of file point_frame.cpp.

tf::Point ControlHead::target_in_root_ [private]

Definition at line 87 of file point_frame.cpp.

tf::TransformListener ControlHead::tfl_ [private]

Definition at line 94 of file point_frame.cpp.

std::string ControlHead::tip_ [private]

Definition at line 67 of file point_frame.cpp.

KDL::Tree ControlHead::tree_ [private]

Definition at line 85 of file point_frame.cpp.

urdf::Model ControlHead::urdf_model_ [private]

Definition at line 95 of file point_frame.cpp.

ros::Timer ControlHead::watchdog_timer_ [private]

Definition at line 78 of file point_frame.cpp.

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

• point_frame.cpp