#include <RosMsgForceTrajectoryFactory.h>
Public Member Functions | |
| virtual boost::shared_ptr < RosMsgJointTrajectory > | getTrajectory (const sensor_msgs::JointState &jointPositions, const sensor_msgs::JointState &jointVels, const sensor_msgs::JointState &prevJointVels, const r2_msgs::PoseState &poseState, const r2_msgs::PoseState &poseVels, const r2_msgs::PoseTrajectory &goalTraj, const r2_msgs::ForceControlAxisArray &forceControlAxes) const |
| getTrajectory produces a trajectory object from the inputs | |
| RosMsgForceTrajectoryFactory () | |
| void | setCartesianFactory (boost::shared_ptr< const SynchedCartesianTrajectoryFactory > factory_in) |
| void | setForceController (boost::shared_ptr< Cartesian_HybCntrl > forceController_in) |
| void | setTreeIk (boost::shared_ptr< KdlTreeIk > treeIk_in) |
| virtual | ~RosMsgForceTrajectoryFactory () |
Protected Types | |
| typedef CartesianTrajectorySequenceFactory < SynchedTrajectory > | sequenceFactoryType |
Protected Attributes | |
| boost::shared_ptr< const SynchedCartesianTrajectoryFactory > | factory |
| boost::shared_ptr < Cartesian_HybCntrl > | forceController |
| boost::shared_ptr < sequenceFactoryType > | sequenceFactory |
| boost::shared_ptr< KdlTreeIk > | treeIk |
Private Attributes | |
| const std::string | logCategory |
Definition at line 18 of file RosMsgForceTrajectoryFactory.h.
typedef CartesianTrajectorySequenceFactory<SynchedTrajectory> RosMsgForceTrajectoryFactory::sequenceFactoryType [protected] |
Definition at line 65 of file RosMsgForceTrajectoryFactory.h.
Definition at line 3 of file RosMsgForceTrajectoryFactory.cpp.
| virtual RosMsgForceTrajectoryFactory::~RosMsgForceTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 22 of file RosMsgForceTrajectoryFactory.h.
| boost::shared_ptr< RosMsgJointTrajectory > RosMsgForceTrajectoryFactory::getTrajectory | ( | const sensor_msgs::JointState & | jointPositions, |
| const sensor_msgs::JointState & | jointVels, | ||
| const sensor_msgs::JointState & | prevJointVels, | ||
| const r2_msgs::PoseState & | poseState, | ||
| const r2_msgs::PoseState & | poseVels, | ||
| const r2_msgs::PoseTrajectory & | goalTraj, | ||
| const r2_msgs::ForceControlAxisArray & | forceControlAxes | ||
| ) | const [virtual] |
getTrajectory produces a trajectory object from the inputs
| jointPositions | start joint positions |
| jointVels | start joint velocities |
| prevJointVels | previous joint velocities (joint states only hold pos & vel so the prev is used to derive acc) |
| poseState | start cartesian poses |
| poseVels | starting cartesian vels |
| goalTraj | goal joint positions |
Definition at line 8 of file RosMsgForceTrajectoryFactory.cpp.
| void RosMsgForceTrajectoryFactory::setCartesianFactory | ( | boost::shared_ptr< const SynchedCartesianTrajectoryFactory > | factory_in | ) | [inline] |
Definition at line 24 of file RosMsgForceTrajectoryFactory.h.
| void RosMsgForceTrajectoryFactory::setForceController | ( | boost::shared_ptr< Cartesian_HybCntrl > | forceController_in | ) | [inline] |
Definition at line 37 of file RosMsgForceTrajectoryFactory.h.
| void RosMsgForceTrajectoryFactory::setTreeIk | ( | boost::shared_ptr< KdlTreeIk > | treeIk_in | ) | [inline] |
Definition at line 31 of file RosMsgForceTrajectoryFactory.h.
boost::shared_ptr<const SynchedCartesianTrajectoryFactory> RosMsgForceTrajectoryFactory::factory [protected] |
Definition at line 67 of file RosMsgForceTrajectoryFactory.h.
boost::shared_ptr<Cartesian_HybCntrl> RosMsgForceTrajectoryFactory::forceController [protected] |
Definition at line 63 of file RosMsgForceTrajectoryFactory.h.
const std::string RosMsgForceTrajectoryFactory::logCategory [private] |
Definition at line 69 of file RosMsgForceTrajectoryFactory.h.
boost::shared_ptr<sequenceFactoryType> RosMsgForceTrajectoryFactory::sequenceFactory [protected] |
Definition at line 66 of file RosMsgForceTrajectoryFactory.h.
boost::shared_ptr<KdlTreeIk> RosMsgForceTrajectoryFactory::treeIk [protected] |
Definition at line 61 of file RosMsgForceTrajectoryFactory.h.