Public Member Functions | Private Types | Private Attributes | List of all members
CobControlModeAdapter Class Reference

Public Member Functions

void cmd_pos_cb (const std_msgs::Float64MultiArray::ConstPtr &msg)
 
void cmd_vel_cb (const std_msgs::Float64MultiArray::ConstPtr &msg)
 
bool initialize ()
 
bool loadController (std::string load_controller)
 
bool switchController (std::vector< std::string > start_controllers, std::vector< std::string > stop_controllers)
 
void update (const ros::TimerEvent &event)
 

Private Types

enum  { NONE, VELOCITY, POSITION, TRAJECTORY }
 

Private Attributes

ros::Subscriber cmd_pos_sub_
 
ros::Subscriber cmd_vel_sub_
 
enum CobControlModeAdapter:: { ... }  current_control_mode_
 
std::vector< std::string > current_controller_names_
 
bool has_pos_controller_
 
bool has_traj_controller_
 
bool has_vel_controller_
 
std::vector< std::string > joint_names_
 
ros::Time last_pos_command_
 
ros::Time last_vel_command_
 
ros::ServiceClient load_client_
 
double max_command_silence_
 
boost::mutex mutex_
 
ros::NodeHandle nh_
 
std::vector< std::string > pos_controller_names_
 
ros::ServiceClient switch_client_
 
ros::Timer timer_
 
std::vector< std::string > traj_controller_names_
 
double update_rate_
 
std::vector< std::string > vel_controller_names_
 

Detailed Description

Definition at line 27 of file cob_control_mode_adapter_node.cpp.

Member Enumeration Documentation

anonymous enum
private
Enumerator
NONE 
VELOCITY 
POSITION 
TRAJECTORY 

Definition at line 325 of file cob_control_mode_adapter_node.cpp.

Member Function Documentation

void CobControlModeAdapter::cmd_pos_cb ( const std_msgs::Float64MultiArray::ConstPtr &  msg)
inline

Definition at line 232 of file cob_control_mode_adapter_node.cpp.

void CobControlModeAdapter::cmd_vel_cb ( const std_msgs::Float64MultiArray::ConstPtr &  msg)
inline

Definition at line 238 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::initialize ( )
inline

Definition at line 30 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::loadController ( std::string  load_controller)
inline

Definition at line 158 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::switchController ( std::vector< std::string >  start_controllers,
std::vector< std::string >  stop_controllers 
)
inline

Definition at line 183 of file cob_control_mode_adapter_node.cpp.

void CobControlModeAdapter::update ( const ros::TimerEvent event)
inline

Definition at line 244 of file cob_control_mode_adapter_node.cpp.

Member Data Documentation

ros::Subscriber CobControlModeAdapter::cmd_pos_sub_
private

Definition at line 339 of file cob_control_mode_adapter_node.cpp.

ros::Subscriber CobControlModeAdapter::cmd_vel_sub_
private

Definition at line 340 of file cob_control_mode_adapter_node.cpp.

enum { ... } CobControlModeAdapter::current_control_mode_
std::vector< std::string > CobControlModeAdapter::current_controller_names_
private

Definition at line 330 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::has_pos_controller_
private

Definition at line 336 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::has_traj_controller_
private

Definition at line 335 of file cob_control_mode_adapter_node.cpp.

bool CobControlModeAdapter::has_vel_controller_
private

Definition at line 337 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::joint_names_
private

Definition at line 323 of file cob_control_mode_adapter_node.cpp.

ros::Time CobControlModeAdapter::last_pos_command_
private

Definition at line 346 of file cob_control_mode_adapter_node.cpp.

ros::Time CobControlModeAdapter::last_vel_command_
private

Definition at line 347 of file cob_control_mode_adapter_node.cpp.

ros::ServiceClient CobControlModeAdapter::load_client_
private

Definition at line 342 of file cob_control_mode_adapter_node.cpp.

double CobControlModeAdapter::max_command_silence_
private

Definition at line 345 of file cob_control_mode_adapter_node.cpp.

boost::mutex CobControlModeAdapter::mutex_
private

Definition at line 348 of file cob_control_mode_adapter_node.cpp.

ros::NodeHandle CobControlModeAdapter::nh_
private

Definition at line 318 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::pos_controller_names_
private

Definition at line 332 of file cob_control_mode_adapter_node.cpp.

ros::ServiceClient CobControlModeAdapter::switch_client_
private

Definition at line 343 of file cob_control_mode_adapter_node.cpp.

ros::Timer CobControlModeAdapter::timer_
private

Definition at line 320 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::traj_controller_names_
private

Definition at line 331 of file cob_control_mode_adapter_node.cpp.

double CobControlModeAdapter::update_rate_
private

Definition at line 321 of file cob_control_mode_adapter_node.cpp.

std::vector< std::string > CobControlModeAdapter::vel_controller_names_
private

Definition at line 333 of file cob_control_mode_adapter_node.cpp.


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


cob_control_mode_adapter
Author(s): Felix Messmer
autogenerated on Mon Mar 23 2020 04:54:30