This ROS interface implements a FollowJointTrajectoryAction interface for controlling (primarily) robot arms. More...

#include <follow_joint_trajectory.h>

Inheritance diagram for robot_controllers::FollowJointTrajectoryController:

Public Member Functions
	FollowJointTrajectoryController ()
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	~FollowJointTrajectoryController ()
Private Types
typedef actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	server_t
Private Member Functions
void	executeCb (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
	Callback for goal.
TrajectoryPoint	getPointFromCurrent (bool incl_vel, bool incl_acc, bool zero_vel)
	Get a trajectory point from the current position/velocity/acceleration.
Private Attributes
std::vector< bool >	continuous_
control_msgs::FollowJointTrajectoryFeedback	feedback_
double	goal_time_tolerance_
TrajectoryPoint	goal_tolerance_
bool	has_goal_tolerance_
bool	has_path_tolerance_
bool	initialized_
std::vector< std::string >	joint_names_
std::vector< JointHandlePtr >	joints_
TrajectoryPoint	last_sample_
ControllerManager *	manager_
TrajectoryPoint	path_tolerance_
bool	preempted_
boost::shared_ptr < TrajectorySampler >	sampler_
boost::mutex	sampler_mutex_
boost::shared_ptr< server_t >	server_
bool	stop_on_path_violation_
bool	stop_with_action_

Detailed Description

This ROS interface implements a FollowJointTrajectoryAction interface for controlling (primarily) robot arms.

Definition at line 65 of file follow_joint_trajectory.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> robot_controllers::FollowJointTrajectoryController::server_t [private]

Definition at line 67 of file follow_joint_trajectory.h.

Constructor & Destructor Documentation

robot_controllers::FollowJointTrajectoryController::FollowJointTrajectoryController ( )

Definition at line 48 of file follow_joint_trajectory.cpp.

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

Definition at line 71 of file follow_joint_trajectory.h.

Member Function Documentation

void robot_controllers::FollowJointTrajectoryController::executeCb ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal ) [private]

Callback for goal.

Definition at line 344 of file follow_joint_trajectory.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 606 of file follow_joint_trajectory.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 601 of file follow_joint_trajectory.cpp.

TrajectoryPoint robot_controllers::FollowJointTrajectoryController::getPointFromCurrent	(	bool	incl_vel,
		bool	incl_acc,
		bool	zero_vel
	)		`[private]`

Get a trajectory point from the current position/velocity/acceleration.

Definition at line 566 of file follow_joint_trajectory.cpp.

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

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 114 of file follow_joint_trajectory.h.

int robot_controllers::FollowJointTrajectoryController::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 53 of file follow_joint_trajectory.cpp.

bool robot_controllers::FollowJointTrajectoryController::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.