pr2_base_trajectory_action::Controller Class Reference

#include <pr2_base_trajectory_action_controller.h>

List of all members.

Public Member Functions
void	cancelCallback (GoalHandle gh)
	Controller ()
void	goalCallback (GoalHandle gh)
void	odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	update (const ros::TimerEvent &event)
virtual	~Controller ()
Private Member Functions
void	clearTrajectory ()
void	setFeedback (const ros::Time &time, const BaseMotion &desired, const BaseMotion &error)
void	setTrajectory (const trajectory_msgs::JointTrajectory::ConstPtr &msg, boost::shared_ptr< GoalHandle > &gh)
Private Attributes
boost::shared_ptr< GoalHandle >	active_goal_
Trajectory::Ptr	active_traj_
boost::shared_ptr< Server >	as_
geometry_msgs::Twist::Ptr	cmd_vel_msg_
ros::Publisher	cmd_vel_pub_
control_msgs::FollowJointTrajectoryFeedback::Ptr	feedback_msg_
double	frequency_
double	goal_threshold_
double	goal_time_constraint_
BaseJointState	joints_
boost::mutex	mutex_
ros::NodeHandle	nh_
ros::Subscriber	odom_sub_
ros::NodeHandle	pnh_
ros::Time	real_latest_time_
double	stopped_velocity_tolerance_
ros::Timer	update_timer_
bool	use_pid

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Detailed Description

Definition at line 161 of file pr2_base_trajectory_action_controller.h.

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Constructor & Destructor Documentation

pr2_base_trajectory_action::Controller::Controller

(

)

Definition at line 48 of file pr2_base_trajectory_action_controller.cpp.

pr2_base_trajectory_action::Controller::~Controller

(

)

[virtual]

Definition at line 78 of file pr2_base_trajectory_action_controller.cpp.

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Member Function Documentation

void pr2_base_trajectory_action::Controller::cancelCallback

(

GoalHandle

gh

)

Definition at line 140 of file pr2_base_trajectory_action_controller.cpp.

void pr2_base_trajectory_action::Controller::clearTrajectory

(

)

[private]

Definition at line 423 of file pr2_base_trajectory_action_controller.cpp.

void pr2_base_trajectory_action::Controller::goalCallback

(

GoalHandle

gh

)

Definition at line 81 of file pr2_base_trajectory_action_controller.cpp.

void pr2_base_trajectory_action::Controller::odomCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 156 of file pr2_base_trajectory_action_controller.cpp.

void pr2_base_trajectory_action::Controller::setFeedback	(	const ros::Time &	time,
		const BaseMotion &	desired,
		const BaseMotion &	error
	)		[private]

Definition at line 267 of file pr2_base_trajectory_action_controller.cpp.

void pr2_base_trajectory_action::Controller::setTrajectory	(	const trajectory_msgs::JointTrajectory::ConstPtr &	msg,
		boost::shared_ptr< GoalHandle > &	gh
	)		[private]

Definition at line 284 of file pr2_base_trajectory_action_controller.cpp.

void pr2_base_trajectory_action::Controller::update

(

const ros::TimerEvent &

event

)

Definition at line 170 of file pr2_base_trajectory_action_controller.cpp.

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Member Data Documentation

boost::shared_ptr<GoalHandle> pr2_base_trajectory_action::Controller::active_goal_ [private]

Definition at line 170 of file pr2_base_trajectory_action_controller.h.

Trajectory::Ptr pr2_base_trajectory_action::Controller::active_traj_ [private]

Definition at line 171 of file pr2_base_trajectory_action_controller.h.

boost::shared_ptr<Server> pr2_base_trajectory_action::Controller::as_ [private]

Definition at line 169 of file pr2_base_trajectory_action_controller.h.

geometry_msgs::Twist::Ptr pr2_base_trajectory_action::Controller::cmd_vel_msg_ [private]

Definition at line 180 of file pr2_base_trajectory_action_controller.h.

ros::Publisher pr2_base_trajectory_action::Controller::cmd_vel_pub_ [private]

Definition at line 167 of file pr2_base_trajectory_action_controller.h.

control_msgs::FollowJointTrajectoryFeedback::Ptr pr2_base_trajectory_action::Controller::feedback_msg_ [private]

Definition at line 179 of file pr2_base_trajectory_action_controller.h.

double pr2_base_trajectory_action::Controller::frequency_ [private]

Definition at line 174 of file pr2_base_trajectory_action_controller.h.

double pr2_base_trajectory_action::Controller::goal_threshold_ [private]

Definition at line 176 of file pr2_base_trajectory_action_controller.h.

double pr2_base_trajectory_action::Controller::goal_time_constraint_ [private]

Definition at line 177 of file pr2_base_trajectory_action_controller.h.

BaseJointState pr2_base_trajectory_action::Controller::joints_ [private]

Definition at line 173 of file pr2_base_trajectory_action_controller.h.

boost::mutex pr2_base_trajectory_action::Controller::mutex_ [private]

Definition at line 164 of file pr2_base_trajectory_action_controller.h.

ros::NodeHandle pr2_base_trajectory_action::Controller::nh_ [private]

Definition at line 165 of file pr2_base_trajectory_action_controller.h.

ros::Subscriber pr2_base_trajectory_action::Controller::odom_sub_ [private]

Definition at line 166 of file pr2_base_trajectory_action_controller.h.

ros::NodeHandle pr2_base_trajectory_action::Controller::pnh_ [private]

Definition at line 165 of file pr2_base_trajectory_action_controller.h.

ros::Time pr2_base_trajectory_action::Controller::real_latest_time_ [private]

Definition at line 172 of file pr2_base_trajectory_action_controller.h.

double pr2_base_trajectory_action::Controller::stopped_velocity_tolerance_ [private]

Definition at line 175 of file pr2_base_trajectory_action_controller.h.

ros::Timer pr2_base_trajectory_action::Controller::update_timer_ [private]

Definition at line 168 of file pr2_base_trajectory_action_controller.h.

bool pr2_base_trajectory_action::Controller::use_pid [private]

Definition at line 178 of file pr2_base_trajectory_action_controller.h.

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

• pr2_base_trajectory_action_controller.h
• pr2_base_trajectory_action_controller.cpp