#include <point_head.h>

Inheritance diagram for robot_controllers::PointHeadController:

Public Member Functions
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.
	PointHeadController ()
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	~PointHeadController ()
Private Types
typedef actionlib::SimpleActionServer < control_msgs::PointHeadAction >	head_server_t
Private Member Functions
void	executeCb (const control_msgs::PointHeadGoalConstPtr &goal)
Private Attributes
JointHandlePtr	head_pan_
JointHandlePtr	head_tilt_
bool	initialized_
KDL::Tree	kdl_tree_
TrajectoryPoint	last_sample_
tf::TransformListener	listener_
ControllerManager *	manager_
bool	preempted_
control_msgs::PointHeadResult	result_
std::string	root_link_
	action was preempted (has nothing to do with preempt() above
boost::shared_ptr < TrajectorySampler >	sampler_
boost::mutex	sampler_mutex_
boost::shared_ptr< head_server_t >	server_
bool	stop_with_action_

Detailed Description

Definition at line 60 of file point_head.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::PointHeadAction> robot_controllers::PointHeadController::head_server_t [private]

Definition at line 62 of file point_head.h.

Constructor & Destructor Documentation

robot_controllers::PointHeadController::PointHeadController ( ) [inline]

Definition at line 65 of file point_head.h.

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

Definition at line 66 of file point_head.h.

Member Function Documentation

void robot_controllers::PointHeadController::executeCb ( const control_msgs::PointHeadGoalConstPtr & goal ) [private]

Definition at line 195 of file point_head.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 298 of file point_head.cpp.

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

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

Implements robot_controllers::Controller.

Definition at line 290 of file point_head.cpp.

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

Get the type of this controller.

Reimplemented from robot_controllers::Controller.

Definition at line 109 of file point_head.h.

int robot_controllers::PointHeadController::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 49 of file point_head.cpp.

bool robot_controllers::PointHeadController::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.