#include <cartesian_pose.h>

Inheritance diagram for robot_controllers::CartesianPoseController:

Public Member Functions
	CartesianPoseController ()
void	command (const geometry_msgs::PoseStamped::ConstPtr &goal)
	Controller command.
virtual std::vector< std::string >	getClaimedNames ()
	Get the names of joints/controllers which this controller exclusively claims.
virtual std::vector< std::string >	getCommandedNames ()
	Get the names of joints/controllers which this controller commands.
virtual std::string	getType ()
	Get the type of this controller.
virtual int	init (ros::NodeHandle &nh, ControllerManager *manager)
	Initialize the controller and any required data structures.
virtual bool	reset ()
	Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.
virtual bool	start ()
	Attempt to start the controller. This should be called only by the ControllerManager instance.
virtual bool	stop (bool force)
	Attempt to stop the controller. This should be called only by the ControllerManager instance.
virtual void	update (const ros::Time &now, const ros::Duration &dt)
	This is the update loop for the controller.
virtual	~CartesianPoseController ()
Private Member Functions
KDL::Frame	getPose ()
Private Attributes
KDL::Frame	actual_pose_
ros::Subscriber	command_sub_
KDL::Frame	desired_pose_
bool	enabled_
ros::Publisher	feedback_pub_
bool	initialized_
boost::shared_ptr < KDL::ChainJntToJacSolver >	jac_solver_
KDL::Jacobian	jacobian_
KDL::JntArray	jnt_delta_
KDL::JntArray	jnt_pos_
boost::shared_ptr < KDL::ChainFkSolverPos >	jnt_to_pose_solver_
std::vector< JointHandlePtr >	joints_
KDL::Chain	kdl_chain_
ros::Time	last_command_
ControllerManager *	manager_
std::vector < robot_controllers::PID >	pid_
std::string	root_link_
tf::TransformListener	tf_
KDL::Twist	twist_error_

Detailed Description

Definition at line 69 of file cartesian_pose.h.

Constructor & Destructor Documentation

robot_controllers::CartesianPoseController::CartesianPoseController ( )

Definition at line 55 of file cartesian_pose.cpp.

virtual robot_controllers::CartesianPoseController::~CartesianPoseController ( ) [inline, virtual]

Definition at line 73 of file cartesian_pose.h.

Member Function Documentation

void robot_controllers::CartesianPoseController::command ( const geometry_msgs::PoseStamped::ConstPtr & goal )

Controller command.

Definition at line 215 of file cartesian_pose.cpp.

std::vector< std::string > robot_controllers::CartesianPoseController::getClaimedNames ( ) [virtual]

Get the names of joints/controllers which this controller exclusively claims.

Implements robot_controllers::Controller.

Definition at line 261 of file cartesian_pose.cpp.

std::vector< std::string > robot_controllers::CartesianPoseController::getCommandedNames ( ) [virtual]

Get the names of joints/controllers which this controller commands.

Implements robot_controllers::Controller.

Definition at line 249 of file cartesian_pose.cpp.

KDL::Frame robot_controllers::CartesianPoseController::getPose ( ) [private]

Definition at line 204 of file cartesian_pose.cpp.

virtual std::string robot_controllers::CartesianPoseController::getType ( ) [inline, virtual]

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 116 of file cartesian_pose.h.

int robot_controllers::CartesianPoseController::init	(	ros::NodeHandle &	nh,
		ControllerManager *	manager
	)		`[virtual]`

Initialize the controller and any required data structures.

Parameters:

nh	Node handle for this controller.
manager	The controller manager instance, this is needed for the controller to get information about joints, etc.

Returns:: 0 if succesfully configured, negative values are error codes.

Reimplemented from robot_controllers::Controller.

Definition at line 60 of file cartesian_pose.cpp.

bool robot_controllers::CartesianPoseController::reset ( ) [virtual]

Cleanly reset the controller to it's initial state. Some controllers may choose to stop themselves. This is mainly used in the case of the the robot exiting some fault condition.