Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes
katana_gazebo_plugins::KatanaGripperJointTrajectoryController Class Reference

#include <katana_gripper_joint_trajectory_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperJointTrajectoryController:
Inheritance graph
[legend]

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

JTASaction_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

Definition at line 56 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 55 of file katana_gripper_joint_trajectory_controller.h.


Constructor & Destructor Documentation


Member Function Documentation

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

are there any more points?

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 113 of file katana_gripper_joint_trajectory_controller.h.

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

Member Data Documentation

Definition at line 65 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 68 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 73 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 69 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 77 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 79 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 67 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 76 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 74 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 80 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 78 of file katana_gripper_joint_trajectory_controller.h.

Definition at line 70 of file katana_gripper_joint_trajectory_controller.h.


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


katana_gazebo_plugins
Author(s): Martin G√ľnther
autogenerated on Mon Aug 14 2017 02:44:02