#include <R2RosTrajectoryManager.hpp>

Public Member Functions
void	basesCallback (const r2_msgs::StringArray &msg)
r2_msgs::JointControlDataArray	fromJointCommandToJointControl (const r2_msgs::JointCommand &jointCommandMsg)
sensor_msgs::JointState	fromJointCommandToJointState (const r2_msgs::JointCommand &jointCommandMsg)
void	inertiaCallback (const sensor_msgs::JointState &msg)
void	jointCapabilitiesCallback (const r2_msgs::JointCapability &msg)
void	jointCommandCallback (const r2_msgs::JointCommand &msg)
void	jointRefsCallback (const r2_msgs::JointTrajectoryReplan &msg)
void	jointSettingsCallback (const r2_msgs::ControllerJointSettings &msg)
void	jointStatesCallback (const sensor_msgs::JointState &msg)
void	jointTrajCallback (const trajectory_msgs::JointTrajectory &msg)
void	poseCommandCallback (const r2_msgs::PoseState &msg)
void	poseRefsCallback (const r2_msgs::PoseTrajectoryReplan &msg)
void	poseSettingsCallback (const r2_msgs::ControllerPoseSettings &msg)
void	poseStatesCallback (const r2_msgs::PoseState &msg)
void	poseWaitCallback (const ros::TimerEvent &event)
	R2RosTrajectoryManager (const std::string name, const std::string &urdf, const double &timestep, ros::NodeHandle &nh)
void	setCartesianParameters (std::vector< double > priorityNum, std::vector< double > linearTol, std::vector< double > angularTol, double momLimit, double taskGain, int ikMaxItr, double ikMaxTwist)
void	update ()
virtual	~R2RosTrajectoryManager ()
Protected Member Functions
virtual void	writeJointControl (const r2_msgs::JointControlDataArray &jointControl_out)
virtual void	writeJointState (const sensor_msgs::JointState &jointState_out)
virtual void	writeStatus (const actionlib_msgs::GoalStatusArray &goalStatusMsg_out)
Private Attributes
ros::Subscriber	basesIn
ros::Publisher	goalStatusOut
ros::Subscriber	inertiaIn
ros::Subscriber	jointCapabilitiesIn
ros::Publisher	jointCommandOut
	publishers and subscribers
sensor_msgs::JointState	jointCommandOutMsg
ros::Subscriber	jointCommandRefsIn
r2_msgs::JointCommand	jointCommandsMsg
ros::Subscriber	jointRefsIn
r2_msgs::JointTrajectoryReplan	jointRefsMsg
ros::Subscriber	jointSettingsIn
r2_msgs::ControllerJointSettings	jointSettingsMsg
	messages
ros::Publisher	jointSettingsOut
ros::Subscriber	jointStatesIn
sensor_msgs::JointState	jointStatesMsg
r2_msgs::JointControlDataArray	jointStatusMsg
ros::Subscriber	jointTrajIn
ros::NodeHandle	nh
ros::Publisher	poseCommandOut
r2_msgs::PoseState	poseCommandOutMsg
ros::Subscriber	poseCommandRefIn
r2_msgs::PoseState	poseCommandsMsg
ros::Subscriber	poseRefsIn
r2_msgs::PoseTrajectoryReplan	poseRefsMsg
ros::Publisher	poseRefsOut
std::queue < r2_msgs::PoseTrajectoryReplan >	poseRefsQueue
ros::Subscriber	poseSettingsIn
ros::Subscriber	poseStatesIn
ros::Publisher	poseStatesOut
r2_msgs::PoseState	poseStatesOutMsg
r2_msgs::JointCommand	prevJointCommandsMsg
sensor_msgs::JointState	prevJointStatesMsg
double	replanHoldAccelerationLimit
double	replanHoldVelocityLimit
r2_msgs::ControllerJointSettings	replanJointSettings
double	replanSettingsVelocityCutoff
double	replanStopAccelerationLimit
double	replanStopVelocityLimit
double	timeStepProp
trajectory_msgs::JointTrajectory	trajInMsg
RosMsgTreeFk	treeFk
std::string	urdfFile
double	waitForKasquish

Detailed Description

Definition at line 16 of file R2RosTrajectoryManager.hpp.

Constructor & Destructor Documentation

R2RosTrajectoryManager::R2RosTrajectoryManager	(	const std::string	name,
		const std::string &	urdf,
		const double &	timestep,
		ros::NodeHandle &	nh
	)

publishers and subscribers

Definition at line 3 of file R2RosTrajectoryManager.cpp.

virtual R2RosTrajectoryManager::~R2RosTrajectoryManager ( ) [inline, virtual]

Definition at line 20 of file R2RosTrajectoryManager.hpp.

Member Function Documentation

void R2RosTrajectoryManager::basesCallback ( const r2_msgs::StringArray & msg )

Definition at line 110 of file R2RosTrajectoryManager.cpp.

r2_msgs::JointControlDataArray R2RosTrajectoryManager::fromJointCommandToJointControl ( const r2_msgs::JointCommand & jointCommandMsg )

Definition at line 204 of file R2RosTrajectoryManager.cpp.

sensor_msgs::JointState R2RosTrajectoryManager::fromJointCommandToJointState ( const r2_msgs::JointCommand & jointCommandMsg )

Definition at line 191 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::inertiaCallback ( const sensor_msgs::JointState & msg )

Definition at line 116 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointCapabilitiesCallback ( const r2_msgs::JointCapability & msg )

Definition at line 73 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointCommandCallback ( const r2_msgs::JointCommand & msg )

Definition at line 55 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointRefsCallback ( const r2_msgs::JointTrajectoryReplan & msg )

Definition at line 79 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointSettingsCallback ( const r2_msgs::ControllerJointSettings & msg )

Definition at line 47 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointStatesCallback ( const sensor_msgs::JointState & msg )

Definition at line 64 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::jointTrajCallback ( const trajectory_msgs::JointTrajectory & msg )

Definition at line 95 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseCommandCallback ( const r2_msgs::PoseState & msg )

Definition at line 134 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseRefsCallback ( const r2_msgs::PoseTrajectoryReplan & msg )

Definition at line 140 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseSettingsCallback ( const r2_msgs::ControllerPoseSettings & msg )

Definition at line 122 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseStatesCallback ( const r2_msgs::PoseState & msg )

Definition at line 128 of file R2RosTrajectoryManager.cpp.

void R2RosTrajectoryManager::poseWaitCallback ( const ros::TimerEvent & event )

void R2RosTrajectoryManager::setCartesianParameters	(	std::vector< double >	priorityNum,
		std::vector< double >	linearTol,
		std::vector< double >	angularTol,
		double	momLimit,
		double	taskGain,
		int	ikMaxItr,
		double	ikMaxTwist
	)