katana_gazebo_plugins::KatanaGripperJointTrajectoryController Class Reference

#include <katana_gripper_joint_trajectory_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperJointTrajectoryController:

List of all members.

Public Member Functions
void	cancelGoal ()
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
GRKAPoint	getNextDesiredPoint (ros::Time time)
bool	hasActiveGoal () const
	KatanaGripperJointTrajectoryController (ros::NodeHandle pn)
void	setCurrentPoint (GRKAPoint point)
virtual	~KatanaGripperJointTrajectoryController ()
Private Types
typedef JTAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer < control_msgs::JointTrajectoryAction >	JTAS
Private Member Functions
void	cancelCB (GoalHandle gh)
void	checkGoalStatus ()
bool	currentIsDesiredAngle ()
void	goalCB (GoalHandle gh)
bool	isTrajectoryFinished ()
void	setCurrentTrajectory (trajectory_msgs::JointTrajectory traj)
Static Private Member Functions
static bool	setsEqual (const std::vector< std::string > &a, const std::vector< std::string > &b)
Private Attributes
JTAS *	action_server_
GoalHandle	active_goal_
GRKAPoint	current_point_
trajectory_msgs::JointTrajectory	current_traj_
std::map< std::string, double >	goal_constraints_
double	goal_time_constraint_
bool	has_active_goal_
std::vector< std::string >	joint_names_
GRKAPoint	last_desired_point_
double	stopped_velocity_tolerance_
std::map< std::string, double >	trajectory_constraints_
bool	trajectory_finished_

---

Detailed Description

This class allows you to send JointTrajectory messages to the Katana Arm simulated in Gazebo

Definition at line 51 of file katana_gripper_joint_trajectory_controller.h.

---

Member Typedef Documentation

typedef JTAS::GoalHandle katana_gazebo_plugins::KatanaGripperJointTrajectoryController::GoalHandle [private]

Definition at line 56 of file katana_gripper_joint_trajectory_controller.h.

typedef actionlib::ActionServer<control_msgs::JointTrajectoryAction> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::JTAS [private]

Definition at line 55 of file katana_gripper_joint_trajectory_controller.h.

---

Constructor & Destructor Documentation

katana_gazebo_plugins::KatanaGripperJointTrajectoryController::KatanaGripperJointTrajectoryController

(

ros::NodeHandle

pn

)

Definition at line 34 of file katana_gripper_joint_trajectory_controller.cpp.

katana_gazebo_plugins::KatanaGripperJointTrajectoryController::~KatanaGripperJointTrajectoryController

(

)

[virtual]

Definition at line 72 of file katana_gripper_joint_trajectory_controller.cpp.

---

Member Function Documentation

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::cancelCB

(

GoalHandle

gh

)

[private]

Definition at line 201 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::cancelGoal

(

)

[inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 105 of file katana_gripper_joint_trajectory_controller.h.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::checkGoalStatus

(

)

[private]

Definition at line 97 of file katana_gripper_joint_trajectory_controller.cpp.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::currentIsDesiredAngle

(

)

[private]

Definition at line 149 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)		[virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 335 of file katana_gripper_joint_trajectory_controller.cpp.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::getNextDesiredPoint

(

ros::Time

time

)

[virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 234 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goalCB

(

GoalHandle

gh

)

[private]

Definition at line 162 of file katana_gripper_joint_trajectory_controller.cpp.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::hasActiveGoal

(

)

const [inline, virtual]

are there any more points?

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 113 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::isTrajectoryFinished

(

)

[private]

Definition at line 329 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setCurrentPoint

(

GRKAPoint

point

)

[inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 99 of file katana_gripper_joint_trajectory_controller.h.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setCurrentTrajectory

(

trajectory_msgs::JointTrajectory

traj

)

[private]

Definition at line 214 of file katana_gripper_joint_trajectory_controller.cpp.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setsEqual	(	const std::vector< std::string > &	a,
		const std::vector< std::string > &	b
	)		[static, private]

Definition at line 77 of file katana_gripper_joint_trajectory_controller.cpp.

---

Member Data Documentation

JTAS* katana_gazebo_plugins::KatanaGripperJointTrajectoryController::action_server_ [private]

Definition at line 65 of file katana_gripper_joint_trajectory_controller.h.

GoalHandle katana_gazebo_plugins::KatanaGripperJointTrajectoryController::active_goal_ [private]

Definition at line 68 of file katana_gripper_joint_trajectory_controller.h.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::current_point_ [private]

Definition at line 73 of file katana_gripper_joint_trajectory_controller.h.

trajectory_msgs::JointTrajectory katana_gazebo_plugins::KatanaGripperJointTrajectoryController::current_traj_ [private]

Definition at line 69 of file katana_gripper_joint_trajectory_controller.h.

std::map<std::string, double> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goal_constraints_ [private]

Definition at line 77 of file katana_gripper_joint_trajectory_controller.h.

double katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goal_time_constraint_ [private]

Definition at line 79 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::has_active_goal_ [private]

Definition at line 67 of file katana_gripper_joint_trajectory_controller.h.

std::vector<std::string> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::joint_names_ [private]

Definition at line 76 of file katana_gripper_joint_trajectory_controller.h.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::last_desired_point_ [private]

Definition at line 74 of file katana_gripper_joint_trajectory_controller.h.

double katana_gazebo_plugins::KatanaGripperJointTrajectoryController::stopped_velocity_tolerance_ [private]

Definition at line 80 of file katana_gripper_joint_trajectory_controller.h.

std::map<std::string, double> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::trajectory_constraints_ [private]

Definition at line 78 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::trajectory_finished_ [private]

Definition at line 70 of file katana_gripper_joint_trajectory_controller.h.

---

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

• katana_gripper_joint_trajectory_controller.h
• katana_gripper_joint_trajectory_controller.cpp