#include <ManipulatorHandler.h>
Public Member Functions | |
| unsigned int | getObjectType () const |
| void | handleSimulation () |
| ManipulatorHandler () | |
| void | synchronize () |
| ~ManipulatorHandler () | |
Protected Member Functions | |
| void | _initialize () |
| void | jointCommandCallback (const sensor_msgs::JointStateConstPtr &msg) |
| Callback for joint commands. | |
| void | VelMobCommandCallback (const geometry_msgs::TwistConstPtr &msg) |
| Callback for joint commands. | |
Protected Attributes | |
| double | _acquisitionFrequency |
| Joint status publication frequency. | |
| double | _axle_lenght |
| Number of found joint. | |
| CustomDataHeaders::ManipulatorCtrlMode | _defaultModeCtrl |
| Default mode controller. | |
| std::vector< int > | _handleOfJoints |
| Handle of the manipulator joints. | |
| std::vector < CustomDataHeaders::ManipulatorCtrlMode > | _jointCtrlMode |
| Manipulator control mode. See ManipulatorCtrlMode. | |
| std::vector< std::string > | _jointNames |
| Names of the manipulator joints. | |
| ros::Time | _lastPrintedMsg |
| Time of the last message printed on the console. | |
| simFloat | _lastPublishedStatus |
| Time of the last published joint status. | |
| sensor_msgs::JointState | _lastReceivedCmd |
| The last received joint command. | |
| simFloat | _lastReceivedCmdTime |
| Time of the last received joint command. | |
| double | _mb_radius |
| unsigned int | _numJoints |
| Number of found joint. | |
| ros::Publisher | _pub |
| Publisher for the joint status. | |
| ros::Subscriber | _sub |
| Subscriber for the joint commands. | |
| ros::Subscriber | _subVelMob |
| Subscriber for the Mobile robots velocity commands . | |
Detailed Description
Definition at line 11 of file ManipulatorHandler.h.
Constructor & Destructor Documentation
Definition at line 14 of file ManipulatorHandler.cpp.
Definition at line 23 of file ManipulatorHandler.cpp.
Member Function Documentation
| void ManipulatorHandler::_initialize | ( | ) | [protected, virtual] |
Implements GenericObjectHandler.
Definition at line 165 of file ManipulatorHandler.cpp.
| unsigned int ManipulatorHandler::getObjectType | ( | ) | const [virtual] |
Implements GenericObjectHandler.
Definition at line 26 of file ManipulatorHandler.cpp.
| void ManipulatorHandler::handleSimulation | ( | ) | [virtual] |
Implements GenericObjectHandler.
Definition at line 41 of file ManipulatorHandler.cpp.
| void ManipulatorHandler::jointCommandCallback | ( | const sensor_msgs::JointStateConstPtr & | msg | ) | [protected] |
Callback for joint commands.
Definition at line 400 of file ManipulatorHandler.cpp.
| void ManipulatorHandler::synchronize | ( | ) | [virtual] |
Reimplemented from GenericObjectHandler.
Definition at line 30 of file ManipulatorHandler.cpp.
| void ManipulatorHandler::VelMobCommandCallback | ( | const geometry_msgs::TwistConstPtr & | msg | ) | [protected] |
Callback for joint commands.
Definition at line 417 of file ManipulatorHandler.cpp.
Member Data Documentation
double ManipulatorHandler::_acquisitionFrequency [protected] |
Joint status publication frequency.
Definition at line 55 of file ManipulatorHandler.h.
double ManipulatorHandler::_axle_lenght [protected] |
Default mode controller.
Definition at line 90 of file ManipulatorHandler.h.
std::vector<int> ManipulatorHandler::_handleOfJoints [protected] |
Handle of the manipulator joints.
Definition at line 40 of file ManipulatorHandler.h.
std::vector<CustomDataHeaders::ManipulatorCtrlMode> ManipulatorHandler::_jointCtrlMode [protected] |
Manipulator control mode. See ManipulatorCtrlMode.
Definition at line 70 of file ManipulatorHandler.h.
std::vector<std::string> ManipulatorHandler::_jointNames [protected] |
Names of the manipulator joints.
Definition at line 43 of file ManipulatorHandler.h.
ros::Time ManipulatorHandler::_lastPrintedMsg [protected] |
Time of the last message printed on the console.
Definition at line 64 of file ManipulatorHandler.h.
simFloat ManipulatorHandler::_lastPublishedStatus [protected] |
Time of the last published joint status.
Definition at line 58 of file ManipulatorHandler.h.
sensor_msgs::JointState ManipulatorHandler::_lastReceivedCmd [protected] |
The last received joint command.
Definition at line 67 of file ManipulatorHandler.h.
simFloat ManipulatorHandler::_lastReceivedCmdTime [protected] |
Time of the last received joint command.
Definition at line 61 of file ManipulatorHandler.h.
double ManipulatorHandler::_mb_radius [protected] |
Definition at line 87 of file ManipulatorHandler.h.
unsigned int ManipulatorHandler::_numJoints [protected] |
Number of found joint.
Definition at line 79 of file ManipulatorHandler.h.
ros::Publisher ManipulatorHandler::_pub [protected] |
Publisher for the joint status.
Definition at line 46 of file ManipulatorHandler.h.
ros::Subscriber ManipulatorHandler::_sub [protected] |
Subscriber for the joint commands.
Definition at line 49 of file ManipulatorHandler.h.
ros::Subscriber ManipulatorHandler::_subVelMob [protected] |
Subscriber for the Mobile robots velocity commands .
Definition at line 52 of file ManipulatorHandler.h.
The documentation for this class was generated from the following files: