controller::JointSplineTrajectoryController Class Reference

#include <joint_spline_trajectory_controller.h>

Inheritance diagram for controller::JointSplineTrajectoryController:

List of all members.

Classes
struct	Segment
struct	Spline
Public Member Functions
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	JointSplineTrajectoryController ()
void	starting ()
void	update ()
	~JointSplineTrajectoryController ()
Private Types
typedef std::vector< Segment >	SpecifiedTrajectory
Private Member Functions
void	commandCB (const trajectory_msgs::JointTrajectoryConstPtr &msg)
bool	queryStateService (pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)
Static Private Member Functions
static void	sampleSplineWithTimeBounds (const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
Private Attributes
boost::scoped_ptr < realtime_tools::RealtimePublisher < pr2_controllers_msgs::JointTrajectoryControllerState > >	controller_state_publisher_
realtime_tools::RealtimeBox < boost::shared_ptr< const SpecifiedTrajectory > >	current_trajectory_box_
std::vector < pr2_mechanism_model::JointState * >	joints_
ros::Time	last_time_
int	loop_count_
ros::NodeHandle	node_
std::vector< control_toolbox::Pid >	pids_
std::vector< double >	q
std::vector< double >	qd
std::vector< double >	qdd
pr2_mechanism_model::RobotState *	robot_
ros::ServiceServer	serve_query_state_
ros::Subscriber	sub_command_

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Detailed Description

Definition at line 58 of file joint_spline_trajectory_controller.h.

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Member Typedef Documentation

typedef std::vector<Segment> controller::JointSplineTrajectoryController::SpecifiedTrajectory [private]

Definition at line 107 of file joint_spline_trajectory_controller.h.

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Constructor & Destructor Documentation

controller::JointSplineTrajectoryController::JointSplineTrajectoryController

(

)

Definition at line 142 of file joint_spline_trajectory_controller.cpp.

controller::JointSplineTrajectoryController::~JointSplineTrajectoryController

(

)

Definition at line 147 of file joint_spline_trajectory_controller.cpp.

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Member Function Documentation

void controller::JointSplineTrajectoryController::commandCB

(

const trajectory_msgs::JointTrajectoryConstPtr &

msg

)

[private]

Definition at line 342 of file joint_spline_trajectory_controller.cpp.

bool controller::JointSplineTrajectoryController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)		[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 153 of file joint_spline_trajectory_controller.cpp.

bool controller::JointSplineTrajectoryController::queryStateService	(	pr2_controllers_msgs::QueryTrajectoryState::Request &	req,
		pr2_controllers_msgs::QueryTrajectoryState::Response &	resp
	)		[private]

Definition at line 583 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::sampleSplineWithTimeBounds	(	const std::vector< double > &	coefficients,
		double	duration,
		double	time,
		double &	position,
		double &	velocity,
		double &	acceleration
	)		[static, private]

Definition at line 626 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::starting

(

)

[virtual]

Reimplemented from pr2_controller_interface::Controller.

Definition at line 247 of file joint_spline_trajectory_controller.cpp.

void controller::JointSplineTrajectoryController::update

(

void

)

[virtual]

Implements pr2_controller_interface::Controller.

Definition at line 266 of file joint_spline_trajectory_controller.cpp.

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Member Data Documentation

boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState> > controller::JointSplineTrajectoryController::controller_state_publisher_ [private]

Definition at line 88 of file joint_spline_trajectory_controller.h.

realtime_tools::RealtimeBox< boost::shared_ptr<const SpecifiedTrajectory> > controller::JointSplineTrajectoryController::current_trajectory_box_ [private]

Definition at line 110 of file joint_spline_trajectory_controller.h.

std::vector<pr2_mechanism_model::JointState*> controller::JointSplineTrajectoryController::joints_ [private]

Definition at line 74 of file joint_spline_trajectory_controller.h.

ros::Time controller::JointSplineTrajectoryController::last_time_ [private]

Definition at line 73 of file joint_spline_trajectory_controller.h.

int controller::JointSplineTrajectoryController::loop_count_ [private]

Definition at line 71 of file joint_spline_trajectory_controller.h.

ros::NodeHandle controller::JointSplineTrajectoryController::node_ [private]

Definition at line 77 of file joint_spline_trajectory_controller.h.

std::vector<control_toolbox::Pid> controller::JointSplineTrajectoryController::pids_ [private]

Definition at line 75 of file joint_spline_trajectory_controller.h.

std::vector<double> controller::JointSplineTrajectoryController::q [private]

Definition at line 118 of file joint_spline_trajectory_controller.h.

std::vector<double> controller::JointSplineTrajectoryController::qd [private]

Definition at line 118 of file joint_spline_trajectory_controller.h.

std::vector<double> controller::JointSplineTrajectoryController::qdd [private]

Definition at line 118 of file joint_spline_trajectory_controller.h.

pr2_mechanism_model::RobotState* controller::JointSplineTrajectoryController::robot_ [private]

Definition at line 72 of file joint_spline_trajectory_controller.h.

ros::ServiceServer controller::JointSplineTrajectoryController::serve_query_state_ [private]

Definition at line 84 of file joint_spline_trajectory_controller.h.

ros::Subscriber controller::JointSplineTrajectoryController::sub_command_ [private]

Definition at line 80 of file joint_spline_trajectory_controller.h.

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

• joint_spline_trajectory_controller.h
• joint_spline_trajectory_controller.cpp