Public Member Functions
void	executeCB (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)

	NodeClass ()

void	publishJointState ()

bool	srvCallback_Init (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	srvCallback_Recover (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

bool	srvCallback_SetDefaultVel (cob_srvs::SetFloat::Request &req, cob_srvs::SetFloat::Response &res)
	Executes the service callback for set_default_vel. More...

bool	srvCallback_SetOperationMode (cob_srvs::SetString::Request &req, cob_srvs::SetString::Response &res)
	Executes the service callback for set_operation_mode. More...

bool	srvCallback_Stop (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)

void	updateCommands ()

	~NodeClass ()

Public Attributes
std::string	action_name_

double	ActualPos_

double	ActualVel_

actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	as_

ElmoCtrl *	CamAxis_

ElmoCtrlParams *	CamAxisParams_

int	CanBaudrate_

std::string	CanDevice_

std::string	CanIniFile_

int	EnoderIncrementsPerRevMot_

control_msgs::FollowJointTrajectoryFeedback	feedback_

bool	finished_

double	GearRatio_

double	GoalPos_

int	HomingDigIn_

int	HomingDir_

bool	isError_

bool	isInitialized_

std::string	JointName_

double	LowerLimit_

double	MaxVel_

int	ModID_

int	MotorDirection_

ros::NodeHandle	n_

ros::NodeHandle	n_private_

double	Offset_

std::string	operationMode_

control_msgs::FollowJointTrajectoryResult	result_

ros::ServiceServer	srvServer_Init_

ros::ServiceServer	srvServer_Recover_

ros::ServiceServer	srvServer_SetDefaultVel_

ros::ServiceServer	srvServer_SetOperationMode_

ros::ServiceServer	srvServer_Stop_

ros::Publisher	topicPub_ControllerState_

ros::Publisher	topicPub_Diagnostic_

ros::Publisher	topicPub_JointState_

ros::Subscriber	topicSub_JointCommand_

trajectory_msgs::JointTrajectory	traj_

trajectory_msgs::JointTrajectoryPoint	traj_point_

unsigned int	traj_point_nr_

double	UpperLimit_

Detailed Description

Definition at line 81 of file cob_head_axis.cpp.

Constructor & Destructor Documentation

NodeClass::NodeClass ( )

inline

Definition at line 144 of file cob_head_axis.cpp.

NodeClass::~NodeClass ( )

inline

Definition at line 252 of file cob_head_axis.cpp.

Member Function Documentation

void NodeClass::executeCB ( const control_msgs::FollowJointTrajectoryGoalConstPtr & goal )

inline

Definition at line 257 of file cob_head_axis.cpp.

void NodeClass::publishJointState ( )

inline

Definition at line 476 of file cob_head_axis.cpp.

bool NodeClass::srvCallback_Init	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Definition at line 307 of file cob_head_axis.cpp.

bool NodeClass::srvCallback_Recover	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Definition at line 359 of file cob_head_axis.cpp.

bool NodeClass::srvCallback_SetDefaultVel	(	cob_srvs::SetFloat::Request &	req,
		cob_srvs::SetFloat::Response &	res
	)

inline

Executes the service callback for set_default_vel.

Sets the default velocity.

Parameters

req	Service request
res	Service response

Definition at line 407 of file cob_head_axis.cpp.

bool NodeClass::srvCallback_SetOperationMode	(	cob_srvs::SetString::Request &	req,
		cob_srvs::SetString::Response &	res
	)

inline

Executes the service callback for set_operation_mode.

Changes the operation mode.

Parameters

req	Service request
res	Service response

Definition at line 391 of file cob_head_axis.cpp.

bool NodeClass::srvCallback_Stop	(	std_srvs::Trigger::Request &	req,
		std_srvs::Trigger::Response &	res
	)

inline

Definition at line 338 of file cob_head_axis.cpp.

void NodeClass::updateCommands ( )

inline

Definition at line 419 of file cob_head_axis.cpp.

Member Data Documentation

std::string NodeClass::action_name_

Definition at line 109 of file cob_head_axis.cpp.

double NodeClass::ActualPos_

Definition at line 136 of file cob_head_axis.cpp.

double NodeClass::ActualVel_

Definition at line 137 of file cob_head_axis.cpp.

actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> NodeClass::as_

Definition at line 108 of file cob_head_axis.cpp.

ElmoCtrl* NodeClass::CamAxis_

Definition at line 114 of file cob_head_axis.cpp.

ElmoCtrlParams* NodeClass::CamAxisParams_

Definition at line 115 of file cob_head_axis.cpp.

int NodeClass::CanBaudrate_

Definition at line 119 of file cob_head_axis.cpp.

std::string NodeClass::CanDevice_

Definition at line 117 of file cob_head_axis.cpp.

std::string NodeClass::CanIniFile_

Definition at line 118 of file cob_head_axis.cpp.

int NodeClass::EnoderIncrementsPerRevMot_

Definition at line 129 of file cob_head_axis.cpp.

control_msgs::FollowJointTrajectoryFeedback NodeClass::feedback_

Definition at line 110 of file cob_head_axis.cpp.

bool NodeClass::finished_

Definition at line 135 of file cob_head_axis.cpp.

double NodeClass::GearRatio_

Definition at line 130 of file cob_head_axis.cpp.

double NodeClass::GoalPos_

Definition at line 138 of file cob_head_axis.cpp.

int NodeClass::HomingDigIn_

Definition at line 121 of file cob_head_axis.cpp.

int NodeClass::HomingDir_

Definition at line 120 of file cob_head_axis.cpp.

bool NodeClass::isError_

Definition at line 134 of file cob_head_axis.cpp.

bool NodeClass::isInitialized_

Definition at line 133 of file cob_head_axis.cpp.

std::string NodeClass::JointName_

Definition at line 132 of file cob_head_axis.cpp.

double NodeClass::LowerLimit_

Definition at line 125 of file cob_head_axis.cpp.

double NodeClass::MaxVel_

Definition at line 122 of file cob_head_axis.cpp.

int NodeClass::ModID_

Definition at line 123 of file cob_head_axis.cpp.

int NodeClass::MotorDirection_

Definition at line 128 of file cob_head_axis.cpp.

ros::NodeHandle NodeClass::n_

Definition at line 86 of file cob_head_axis.cpp.

ros::NodeHandle NodeClass::n_private_

Definition at line 87 of file cob_head_axis.cpp.

double NodeClass::Offset_

Definition at line 127 of file cob_head_axis.cpp.

std::string NodeClass::operationMode_

Definition at line 124 of file cob_head_axis.cpp.

control_msgs::FollowJointTrajectoryResult NodeClass::result_

Definition at line 111 of file cob_head_axis.cpp.

ros::ServiceServer NodeClass::srvServer_Init_

Definition at line 98 of file cob_head_axis.cpp.

ros::ServiceServer NodeClass::srvServer_Recover_

Definition at line 100 of file cob_head_axis.cpp.

ros::ServiceServer NodeClass::srvServer_SetDefaultVel_

Definition at line 102 of file cob_head_axis.cpp.

ros::ServiceServer NodeClass::srvServer_SetOperationMode_

Definition at line 101 of file cob_head_axis.cpp.

ros::ServiceServer NodeClass::srvServer_Stop_

Definition at line 99 of file cob_head_axis.cpp.

ros::Publisher NodeClass::topicPub_ControllerState_

Definition at line 91 of file cob_head_axis.cpp.

ros::Publisher NodeClass::topicPub_Diagnostic_

Definition at line 92 of file cob_head_axis.cpp.

ros::Publisher NodeClass::topicPub_JointState_

Definition at line 90 of file cob_head_axis.cpp.

ros::Subscriber NodeClass::topicSub_JointCommand_

Definition at line 95 of file cob_head_axis.cpp.

trajectory_msgs::JointTrajectory NodeClass::traj_

Definition at line 139 of file cob_head_axis.cpp.

trajectory_msgs::JointTrajectoryPoint NodeClass::traj_point_

Definition at line 140 of file cob_head_axis.cpp.

unsigned int NodeClass::traj_point_nr_

Definition at line 141 of file cob_head_axis.cpp.

double NodeClass::UpperLimit_

Definition at line 126 of file cob_head_axis.cpp.

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

cob_head_axis.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation