gazebo_ros_katana_gripper.cpp
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/src/
gazebo__ros__katana__gripper_8cpp
katana_gazebo_plugins/gazebo_ros_katana_gripper.h
GZ_REGISTER_MODEL_PLUGIN
gazebo__ros__katana__gripper_8cpp.html
a4bc1c183faf0e391bef132b2ad6dec2c
(GazeboRosKatanaGripper)
gazebo_ros_katana_gripper.h
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/include/katana_gazebo_plugins/
gazebo__ros__katana__gripper_8h
katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h
katana_gazebo_plugins/katana_gripper_grasp_controller.h
katana_gazebo_plugins/katana_gripper_joint_trajectory_controller.h
gazebo::GazeboRosKatanaGripper
gazebo_ros_katana_gripper_action_interface.cpp
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/src/
gazebo__ros__katana__gripper__action__interface_8cpp
katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h
katana_gazebo_plugins
gazebo_ros_katana_gripper_action_interface.h
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/include/katana_gazebo_plugins/
gazebo__ros__katana__gripper__action__interface_8h
katana_gazebo_plugins::GRKAPoint
katana_gazebo_plugins::IGazeboRosKatanaGripperAction
katana_gazebo_plugins
katana_gripper_grasp_controller.cpp
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/src/
katana__gripper__grasp__controller_8cpp
katana_gazebo_plugins/katana_gripper_grasp_controller.h
katana_gazebo_plugins
static const double
GRIPPER_CLOSED_ANGLE
namespacekatana__gazebo__plugins.html
af0676c0128cbe621b7fd9b90490448c6
static const double
GRIPPER_OPEN_ANGLE
namespacekatana__gazebo__plugins.html
aa0b55a1a88fcda627edea07c9446765c
static const double
GRIPPER_OPENING_CLOSING_DURATION
namespacekatana__gazebo__plugins.html
af6deb3c89e510c688904ae3d5a25658e
katana_gripper_grasp_controller.h
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/include/katana_gazebo_plugins/
katana__gripper__grasp__controller_8h
katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h
katana_gazebo_plugins::KatanaGripperGraspController
katana_gazebo_plugins
katana_gripper_joint_trajectory_controller.cpp
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/src/
katana__gripper__joint__trajectory__controller_8cpp
katana_gazebo_plugins/katana_gripper_joint_trajectory_controller.h
katana_gazebo_plugins
katana_gripper_joint_trajectory_controller.h
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/include/katana_gazebo_plugins/
katana__gripper__joint__trajectory__controller_8h
katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h
katana_gazebo_plugins::KatanaGripperJointTrajectoryController
katana_gazebo_plugins
spline_smoother
static void
generatePowers
namespacespline__smoother.html
ac20bdb85f961e7c6011aed282d8b6034
(int n, double x, double *powers)
void
getCubicSplineCoefficients
namespacespline__smoother.html
ac964796fd06c6c0293d36a433add683e
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
void
sampleCubicSpline
namespacespline__smoother.html
a44c264f560b52897ea27957cf15f9848
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
static const double
GRIPPER_ANGLE_THRESHOLD
namespacekatana__gazebo__plugins.html
aca8a7d7c70c92fa00241624c33818041
mainpage.dox
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/
mainpage_8dox
test_gripper_joint_trajectory.cpp
/tmp/catkin_workspace/src/katana_driver/katana_gazebo_plugins/src/
test__gripper__joint__trajectory_8cpp
TestGripperJointTrajectory
actionlib::SimpleActionClient< control_msgs::JointTrajectoryAction >
TrajClient
test__gripper__joint__trajectory_8cpp.html
a0e3ca4ff3393fb8e1a149c796aabd85b
int
main
test__gripper__joint__trajectory_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
static const double
GRIPPER_CLOSED_ANGLE
test__gripper__joint__trajectory_8cpp.html
aec7949f8d6ca0394d48d2db9ba0818d1
static const double
GRIPPER_OPEN_ANGLE
test__gripper__joint__trajectory_8cpp.html
ab5bf7efad1036858db9463ba862838ea
TestGripperJointTrajectory
classTestGripperJointTrajectory.html
control_msgs::JointTrajectoryGoal
closeGoal
classTestGripperJointTrajectory.html
a5c9d2318dfb7b35a1d6c1e2e8da8c116
()
actionlib::SimpleClientGoalState
getState
classTestGripperJointTrajectory.html
ab405c87394a4c38c51985cc9b6765889
()
control_msgs::JointTrajectoryGoal
openGoal
classTestGripperJointTrajectory.html
a473027ae27d77f5af8dbf386e4cbaaf9
()
void
startTrajectory
classTestGripperJointTrajectory.html
a651f98a91272ae324037c1bf2d3347dd
(control_msgs::JointTrajectoryGoal goal)
TestGripperJointTrajectory
classTestGripperJointTrajectory.html
a454c032c3fb0ed752ee32e34b1690b95
()
~TestGripperJointTrajectory
classTestGripperJointTrajectory.html
ab3af31cb6200d7371afa326874a0c3e2
()
void
jointStateCB
classTestGripperJointTrajectory.html
a923c4f24563cca12a0c1a75c7851874f
(const sensor_msgs::JointState::ConstPtr &msg)
std::vector< double >
current_joint_state_
classTestGripperJointTrajectory.html
afb622cc45075f17a732454306362b1a9
bool
got_joint_state_
classTestGripperJointTrajectory.html
a13dbf9553cb546edf04737e425ffde32
std::vector< std::string >
joint_names_
classTestGripperJointTrajectory.html
a0e3f0e139b2d8e96330908ee3d0ef201
ros::Subscriber
joint_state_sub_
classTestGripperJointTrajectory.html
a556bf75d563570f3d3eb20081b553a97
ros::NodeHandle
nh_
classTestGripperJointTrajectory.html
a80ca44d5f48c6b48a50a46f58445a903
ros::AsyncSpinner
spinner_
classTestGripperJointTrajectory.html
aab3b7469d36a7ef480c881ad09b91f8d
TrajClient *
traj_client_
classTestGripperJointTrajectory.html
a4562a87a4c0c712844ba426ae4e358b2
gazebo::GazeboRosKatanaGripper
classgazebo_1_1GazeboRosKatanaGripper.html
virtual void
FiniChild
classgazebo_1_1GazeboRosKatanaGripper.html
a00cf2cffe2cf5f9ec58d53b797a4728a
()
GazeboRosKatanaGripper
classgazebo_1_1GazeboRosKatanaGripper.html
a2165e058fe4c0c2e737c0c60818e3cd5
()
virtual void
InitChild
classgazebo_1_1GazeboRosKatanaGripper.html
af121714c78916c1134ec72ea0eab52b5
()
virtual void
Load
classgazebo_1_1GazeboRosKatanaGripper.html
af0b00d46a86222604fd1ee99ff6600b8
(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
virtual void
UpdateChild
classgazebo_1_1GazeboRosKatanaGripper.html
a33cdf120090acb39c9f6c09c6fa01fcf
()
virtual
~GazeboRosKatanaGripper
classgazebo_1_1GazeboRosKatanaGripper.html
aefc8a9451046f8f8d745c9af54102cb9
()
void
spin
classgazebo_1_1GazeboRosKatanaGripper.html
a4aa1a4e0b9e773dece8d6ca6c9b49014
()
void
updateActiveGripperAction
classgazebo_1_1GazeboRosKatanaGripper.html
afd8c97fb3b705fd41798076ce97e10d2
()
void
updateGains
classgazebo_1_1GazeboRosKatanaGripper.html
a24ea9e520107a9f2c2391ced246a0d62
()
katana_gazebo_plugins::IGazeboRosKatanaGripperAction *
active_gripper_action_
classgazebo_1_1GazeboRosKatanaGripper.html
ad8bc89e7327b5c1d7e82393fae5bdffc
ros::Publisher
controller_state_pub_
classgazebo_1_1GazeboRosKatanaGripper.html
afe5aad2a73058533eb06d48367dcaef3
std::vector< katana_gazebo_plugins::IGazeboRosKatanaGripperAction * >
gripper_action_list_
classgazebo_1_1GazeboRosKatanaGripper.html
ae833969eae582694af420e8ebb20405c
std::vector< std::string >
joint_names_
classgazebo_1_1GazeboRosKatanaGripper.html
ac716cf3559e37adcbce3e3a60981c5e9
physics::JointPtr
joints_
classgazebo_1_1GazeboRosKatanaGripper.html
a255fe9ba6a8ab954faed03c0e65c14c6
[NUM_JOINTS]
physics::ModelPtr
my_parent_
classgazebo_1_1GazeboRosKatanaGripper.html
a9a0d7bc61514f45da8e25b9ce40f95b2
physics::WorldPtr
my_world_
classgazebo_1_1GazeboRosKatanaGripper.html
ac0d1fcfbf10b7b6664328d183656cf34
std::string
node_namespace_
classgazebo_1_1GazeboRosKatanaGripper.html
ab9c6273e83eaf2fb3777086c6dacdf9b
control_toolbox::Pid
pid_controller_
classgazebo_1_1GazeboRosKatanaGripper.html
ad4faee2123c39a00b9d7c794c6e5bb59
common::Time
prev_update_time_
classgazebo_1_1GazeboRosKatanaGripper.html
a0a42f50d4c94bedc5b3dd2e584eb5aa6
short
publish_counter_
classgazebo_1_1GazeboRosKatanaGripper.html
a0b8adbb5c6f8f28e171a873cc3329e4e
ros::NodeHandle *
rosnode_
classgazebo_1_1GazeboRosKatanaGripper.html
a3170a57b733b62201dcf17cb1a850b12
boost::thread *
spinner_thread_
classgazebo_1_1GazeboRosKatanaGripper.html
aee8f39fcdad416143a79bf928bedb52b
float
torque_
classgazebo_1_1GazeboRosKatanaGripper.html
a410c64280d6b28584c967ed1a6065251
event::ConnectionPtr
updateConnection
classgazebo_1_1GazeboRosKatanaGripper.html
aab64f786192b8b66c31297fd59400620
static const size_t
NUM_JOINTS
classgazebo_1_1GazeboRosKatanaGripper.html
a59b4416960f97ebfc7284c4610d3de5c
katana_gazebo_plugins
namespacekatana__gazebo__plugins.html
katana_gazebo_plugins::GRKAPoint
katana_gazebo_plugins::IGazeboRosKatanaGripperAction
katana_gazebo_plugins::KatanaGripperGraspController
katana_gazebo_plugins::KatanaGripperJointTrajectoryController
static const double
GRIPPER_ANGLE_THRESHOLD
namespacekatana__gazebo__plugins.html
aca8a7d7c70c92fa00241624c33818041
static const double
GRIPPER_CLOSED_ANGLE
namespacekatana__gazebo__plugins.html
af0676c0128cbe621b7fd9b90490448c6
static const double
GRIPPER_OPEN_ANGLE
namespacekatana__gazebo__plugins.html
aa0b55a1a88fcda627edea07c9446765c
static const double
GRIPPER_OPENING_CLOSING_DURATION
namespacekatana__gazebo__plugins.html
af6deb3c89e510c688904ae3d5a25658e
katana_gazebo_plugins::GRKAPoint
structkatana__gazebo__plugins_1_1GRKAPoint.html
double
position
structkatana__gazebo__plugins_1_1GRKAPoint.html
a51e0dc077e38b4ac0b212f59e7004079
double
velocity
structkatana__gazebo__plugins_1_1GRKAPoint.html
ab20475b154d66d881cb22860b074e938
katana_gazebo_plugins::IGazeboRosKatanaGripperAction
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
virtual void
cancelGoal
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
aec73e156a4b5e4a3d541f146516af1f7
()=0
virtual void
getGains
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
abc729a00c35e1b970fc8cfbb071a5a8c
(double &p, double &i, double &d, double &i_max, double &i_min)=0
virtual GRKAPoint
getNextDesiredPoint
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
a918dfb9ecb2d0ed48ed1552c2669d807
(ros::Time time)=0
virtual bool
hasActiveGoal
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
a06923618fc2c5f46d65ea0a3b7ffc5ef
() const =0
virtual void
setCurrentPoint
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
a136c3d04f14dc0a70954c59fbffdd8f9
(GRKAPoint point)=0
virtual void
setCurrentPoint
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
a43cf496e5883eed29db0703d32fe217b
(double pos, double vel)
virtual
~IGazeboRosKatanaGripperAction
classkatana__gazebo__plugins_1_1IGazeboRosKatanaGripperAction.html
afc9f023bee93a05b22fdda4a914b6cc1
()
katana_gazebo_plugins::KatanaGripperGraspController
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
katana_gazebo_plugins::IGazeboRosKatanaGripperAction
void
cancelGoal
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
ae482ded2dc4e1fb9a50425b54e241049
()
void
getGains
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a674abee85958bbc9d67e6cf20d27fb90
(double &p, double &i, double &d, double &i_max, double &i_min)
GRKAPoint
getNextDesiredPoint
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
afcc360b140617f05f655469927c4111c
(ros::Time time)
bool
hasActiveGoal
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
ad18a655df598953134aa8ec241d05003
() const
KatanaGripperGraspController
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
ab9624041492c32d888212926a10168b5
(ros::NodeHandle private_nodehandle)
void
setCurrentPoint
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a9b2d921a3426b6b59264356b6877c34b
(GRKAPoint point)
virtual
~KatanaGripperGraspController
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a620b00a83c61f4279059d33668993f7a
()
void
executeCB
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
ac6153f5c0fb2f774f836ac6c5f18b13d
(const control_msgs::GripperCommandGoalConstPtr &goal)
bool
serviceCallback
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a5f8c88581536c8a9e3f1c1fe8657bbce
(control_msgs::QueryTrajectoryState::Request &request, control_msgs::QueryTrajectoryState::Response &response)
void
setDesiredAngle
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
aa8d5e02b6ef892d22ee4285ed69d57c2
(double desired_angle)
actionlib::SimpleActionServer< control_msgs::GripperCommandAction > *
action_server_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a4911ea1e7e4ed395440e02c13c06322a
double
current_angle_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a3a332c926b3a110c3a9e9729b40a0c59
double
desired_angle_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a76d066fecb48d9e1a9f980059cdbe354
double
goal_threshold_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a18613584391b0aedc70945aa4654eb8a
double
gripper_object_presence_threshold_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
aa9aaf54bb5ae3d98ce089cf435d27fd2
bool
has_new_desired_angle_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a0ab47749f4e7c735ade791b4a0817184
ros::ServiceServer
query_srv_
classkatana__gazebo__plugins_1_1KatanaGripperGraspController.html
a373db161d4298b54fa5970c3d372ccc5
katana_gazebo_plugins::KatanaGripperJointTrajectoryController
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
katana_gazebo_plugins::IGazeboRosKatanaGripperAction
void
cancelGoal
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a2a0707398f9d8810e90ba00fe26f2d62
()
void
getGains
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a66676ae74a95f746359d1c3b893387df
(double &p, double &i, double &d, double &i_max, double &i_min)
GRKAPoint
getNextDesiredPoint
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
af2f444622ec74a32747daa79e728fb30
(ros::Time time)
bool
hasActiveGoal
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a6145892743f30f5e9acd1fddbee27296
() const
KatanaGripperJointTrajectoryController
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
aa46da4ff9e278e3a9f244d8277b3f300
(ros::NodeHandle pn)
void
setCurrentPoint
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
af602d05180fb8b50844a8205485d2618
(GRKAPoint point)
virtual
~KatanaGripperJointTrajectoryController
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a8b896ba104058dc49d0477583ae15ae9
()
JTAS::GoalHandle
GoalHandle
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
ad48aef317418e6d9f76157a2b7b98474
actionlib::ActionServer< control_msgs::JointTrajectoryAction >
JTAS
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
ae3e62695811b9e9d7fa29905a3581a59
void
cancelCB
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a7bda4fbce7301ff6c79bc46b385b363e
(GoalHandle gh)
void
checkGoalStatus
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a2b64225d6aaeb229b954465de17c49e5
()
bool
currentIsDesiredAngle
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
afe3ccae6851707cf92d5a6b1947a6d20
()
void
goalCB
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
ad95e3fa69c8066b5c61aaa0ef5e5d94a
(GoalHandle gh)
bool
isTrajectoryFinished
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
ab42f96ddfd3dd8adb1caaa3ae3473ae3
()
void
setCurrentTrajectory
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a09eb47f02c53fb23d1c1a9864626ccc4
(trajectory_msgs::JointTrajectory traj)
static bool
setsEqual
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a33069baa3f2f2720658efcff1f5d589e
(const std::vector< std::string > &a, const std::vector< std::string > &b)
JTAS *
action_server_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a97f78a1642ab8bf96f7ffba0f6fbeab3
GoalHandle
active_goal_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
aec74d58f63ae9b2d4f0a7659675840cc
GRKAPoint
current_point_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a08aa1ae3125ec5311b2dcf23740c9565
trajectory_msgs::JointTrajectory
current_traj_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a99ce4f9a04c0c8e5a6169a3d41c42190
std::map< std::string, double >
goal_constraints_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a565611b07fc2b94959b93393bd0b45c7
double
goal_time_constraint_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a37182edc420f57638b0afefbc4d85be9
bool
has_active_goal_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
ac177f20ce28e142fec4f817c8687cb6c
std::vector< std::string >
joint_names_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
aab3bb5b4fd0db1da70df7d6cf532722c
GRKAPoint
last_desired_point_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a2d9d01d5e453bfb8276f2bc53747ef4e
double
stopped_velocity_tolerance_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
af5659300467914b580d9f13c1ec80f35
std::map< std::string, double >
trajectory_constraints_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
a2149f43a1aa10ee1ad8924fea494dc4e
bool
trajectory_finished_
classkatana__gazebo__plugins_1_1KatanaGripperJointTrajectoryController.html
acf082e9ef2c8f8d43e78722a27bae694
spline_smoother
namespacespline__smoother.html
static void
generatePowers
namespacespline__smoother.html
ac20bdb85f961e7c6011aed282d8b6034
(int n, double x, double *powers)
void
getCubicSplineCoefficients
namespacespline__smoother.html
ac964796fd06c6c0293d36a433add683e
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
void
sampleCubicSpline
namespacespline__smoother.html
a44c264f560b52897ea27957cf15f9848
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
index
index
codeapi