Public Member Functions | Protected Attributes | Private Member Functions
vpROSRobot Class Reference

Interface for robots based on ROS. More...

#include <vpROSRobot.h>

Inheritance diagram for vpROSRobot:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void getDisplacement (const vpRobot::vpControlFrameType, vpColVector &)
void getDisplacement (const vpRobot::vpControlFrameType, vpColVector &, struct timespec &timestamp)
void getPosition (const vpRobot::vpControlFrameType, vpColVector &)
void init ()
 basic initialization
void init (int argc, char **argv)
void setCmdVelTopic (std::string topic_name)
void setMasterURI (std::string master_uri)
void setNodespace (std::string nodespace)
void setOdomTopic (std::string topic_name)
void setVelocity (const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void stopMotion ()
 vpROSRobot ()
 constructor
virtual ~vpROSRobot ()
 destructor

Protected Attributes

std::string _master_uri
std::string _nodespace
uint32_t _nsec
uint32_t _sec
std::string _topic_cmd
std::string _topic_odom
ros::Publisher cmdvel
vpColVector displacement
bool isInitialized
ros::NodeHandlen
ros::Subscriber odom
volatile bool odom_mutex
vpTranslationVector p
vpColVector pose_prev
vpQuaternionVector q
ros::AsyncSpinnerspinner

Private Member Functions

void get_eJe (vpMatrix &eJe)
void get_fJe (vpMatrix &)
void getArticularDisplacement (vpColVector &)
void getCameraDisplacement (vpColVector &)
void getVelocity (const vpRobot::vpControlFrameType frame, vpColVector &velocity)
vpColVector getVelocity (const vpRobot::vpControlFrameType frame)
void odomCallback (const nav_msgs::Odometry::ConstPtr &msg)
void setPosition (const vpRobot::vpControlFrameType, const vpColVector &)
 vpROSRobot (const vpROSRobot &robot)

Detailed Description

Interface for robots based on ROS.

Definition at line 62 of file vpROSRobot.h.


Constructor & Destructor Documentation

vpROSRobot::vpROSRobot ( const vpROSRobot robot) [private]

constructor

Definition at line 58 of file vpROSRobot.cpp.

vpROSRobot::~vpROSRobot ( ) [virtual]

destructor

Definition at line 78 of file vpROSRobot.cpp.


Member Function Documentation

void vpROSRobot::get_eJe ( vpMatrix &  eJe) [inline, private]

Reimplemented in vpROSRobotPioneer.

Definition at line 84 of file vpROSRobot.h.

void vpROSRobot::get_fJe ( vpMatrix &  ) [inline, private]

Get the robot Jacobian expressed in the robot reference (or world) frame.

Warning:
Not implemented.

Reimplemented in vpROSRobotPioneer.

Definition at line 91 of file vpROSRobot.h.

void vpROSRobot::getArticularDisplacement ( vpColVector &  ) [inline, private]

Get a displacement expressed in the joint space between two successive position control.

Warning:
Not implemented.

Definition at line 97 of file vpROSRobot.h.

void vpROSRobot::getCameraDisplacement ( vpColVector &  ) [private]
void vpROSRobot::getDisplacement ( const vpRobot::vpControlFrameType  frame,
vpColVector &  dis 
)

Get the robot displacement (frame has to be specified).

Parameters:
frame: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
dis: A 6 dimension vector that corresponds to the displacement of the robot since the last call to the function.
Exceptions:
vpRobotException::wrongStateError: If the specified control frame is not supported.

Definition at line 239 of file vpROSRobot.cpp.

void vpROSRobot::getDisplacement ( const vpRobot::vpControlFrameType  frame,
vpColVector &  dis,
struct timespec &  timestamp 
)

Get the robot displacement (frame has to be specified).

Parameters:
frame: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
dis: A 6 dimension vector that corresponds to the displacement of the robot since the last call to the function.
timestamp: timestamp of the last update of the displacement
Exceptions:
vpRobotException::wrongStateError: If the specified control frame is not supported.

Definition at line 211 of file vpROSRobot.cpp.

void vpROSRobot::getPosition ( const vpRobot::vpControlFrameType  frame,
vpColVector &  pose 
)

Get the robot position (frame has to be specified).

Parameters:
frame: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
pose: A 6 dimension vector that corresponds to the position of the robot.
Exceptions:
vpRobotException::wrongStateError: If the specified control frame is not supported.

Definition at line 175 of file vpROSRobot.cpp.

void vpROSRobot::getVelocity ( const vpRobot::vpControlFrameType  frame,
vpColVector &  velocity 
) [private]

Reimplemented in vpROSRobotPioneer.

vpColVector vpROSRobot::getVelocity ( const vpRobot::vpControlFrameType  frame) [private]

Reimplemented in vpROSRobotPioneer.

void vpROSRobot::init ( )

basic initialization

Basic initialisation

Reimplemented in vpROSRobotPioneer.

Definition at line 112 of file vpROSRobot.cpp.

void vpROSRobot::init ( int  argc,
char **  argv 
)

Basic initialisation

Parameters:
argc,argv: parameters of the main function

Reimplemented in vpROSRobotPioneer.

Definition at line 93 of file vpROSRobot.cpp.

void vpROSRobot::odomCallback ( const nav_msgs::Odometry::ConstPtr &  msg) [private]

Definition at line 245 of file vpROSRobot.cpp.

void vpROSRobot::setCmdVelTopic ( std::string  topic_name)

Set the ROS topic name for cmdvel

Parameters:
topic_namename of the topic.
Examples:
tutorial-ros-pioneer-visual-servo.cpp, tutorial-ros-pioneer.cpp, and tutorial_ros_node_pioneer_visual_servo.cpp.

Definition at line 285 of file vpROSRobot.cpp.

void vpROSRobot::setMasterURI ( std::string  master_uri)

Set the URI for ROS Master

Parameters:
master_uriURI of the master ("http://127.0.0.1:11311")

Definition at line 311 of file vpROSRobot.cpp.

void vpROSRobot::setNodespace ( std::string  nodespace)

Set the nodespace

Parameters:
nodespaceNamespace of the connected camera (nodespace is appended to the all topic names)

Definition at line 323 of file vpROSRobot.cpp.

void vpROSRobot::setOdomTopic ( std::string  topic_name)

Set the ROS topic name for odom

Parameters:
topic_namename of the topic.

Definition at line 298 of file vpROSRobot.cpp.

void vpROSRobot::setPosition ( const vpRobot::vpControlFrameType  ,
const vpColVector &   
) [inline, private]

Set a displacement (frame has to be specified) in position control.

Warning:
Not implemented.

Reimplemented in vpROSRobotPioneer.

Definition at line 107 of file vpROSRobot.h.

void vpROSRobot::setVelocity ( const vpRobot::vpControlFrameType  frame,
const vpColVector &  vel 
)

Set the velocity (frame has to be specified) that will be applied to the robot.

Parameters:
frame: Control frame. For the moment, only vpRobot::REFERENCE_FRAME is implemented.
vel: A 6 dimension vector that corresponds to the velocities to apply to the robot.
Exceptions:
vpRobotException::wrongStateError: If the specified control frame is not supported.

Reimplemented in vpROSRobotPioneer.

Definition at line 144 of file vpROSRobot.cpp.

Definition at line 265 of file vpROSRobot.cpp.


Member Data Documentation

std::string vpROSRobot::_master_uri [protected]

Definition at line 78 of file vpROSRobot.h.

std::string vpROSRobot::_nodespace [protected]

Definition at line 81 of file vpROSRobot.h.

uint32_t vpROSRobot::_nsec [protected]

Definition at line 76 of file vpROSRobot.h.

uint32_t vpROSRobot::_sec [protected]

Definition at line 76 of file vpROSRobot.h.

std::string vpROSRobot::_topic_cmd [protected]

Definition at line 79 of file vpROSRobot.h.

std::string vpROSRobot::_topic_odom [protected]

Definition at line 80 of file vpROSRobot.h.

Definition at line 66 of file vpROSRobot.h.

vpColVector vpROSRobot::displacement [protected]

Definition at line 75 of file vpROSRobot.h.

bool vpROSRobot::isInitialized [protected]

Definition at line 70 of file vpROSRobot.h.

Definition at line 65 of file vpROSRobot.h.

Definition at line 67 of file vpROSRobot.h.

volatile bool vpROSRobot::odom_mutex [protected]

Definition at line 77 of file vpROSRobot.h.

vpTranslationVector vpROSRobot::p [protected]

Definition at line 73 of file vpROSRobot.h.

vpColVector vpROSRobot::pose_prev [protected]

Definition at line 74 of file vpROSRobot.h.

Definition at line 72 of file vpROSRobot.h.

Definition at line 68 of file vpROSRobot.h.


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


visp_ros
Author(s): Francois Pasteau, Fabien Spindler
autogenerated on Thu Mar 24 2016 03:32:49