Public Member Functions | Private Types | Private Member Functions | Private Attributes | List of all members
katana::JointMovementActionController Class Reference

#include <joint_movement_action_controller.h>

Public Member Functions

 JointMovementActionController (boost::shared_ptr< AbstractKatana > katana)
 
virtual ~JointMovementActionController ()
 

Private Types

typedef actionlib::SimpleActionClient< katana_msgs::JointMovementAction > JMAC
 
typedef actionlib::SimpleActionServer< katana_msgs::JointMovementAction > JMAS
 

Private Member Functions

sensor_msgs::JointState adjustJointGoalPositionsToMotorLimits (const sensor_msgs::JointState &jointGoal)
 
void executeCB (const JMAS::GoalConstPtr &goal)
 
bool suitableJointGoal (const std::vector< std::string > &jointGoalNames)
 

Private Attributes

JMAS action_server_
 
std::vector< std::string > gripper_joints_
 
std::vector< std::string > joints_
 
boost::shared_ptr< AbstractKatanakatana_
 
sensor_msgs::JointState movement_goal_
 

Detailed Description

Definition at line 44 of file joint_movement_action_controller.h.

Member Typedef Documentation

typedef actionlib::SimpleActionClient<katana_msgs::JointMovementAction> katana::JointMovementActionController::JMAC
private

Definition at line 47 of file joint_movement_action_controller.h.

typedef actionlib::SimpleActionServer<katana_msgs::JointMovementAction> katana::JointMovementActionController::JMAS
private

Definition at line 46 of file joint_movement_action_controller.h.

Constructor & Destructor Documentation

katana::JointMovementActionController::JointMovementActionController ( boost::shared_ptr< AbstractKatana katana)

Definition at line 34 of file joint_movement_action_controller.cpp.

katana::JointMovementActionController::~JointMovementActionController ( )
virtual

Definition at line 43 of file joint_movement_action_controller.cpp.

Member Function Documentation

sensor_msgs::JointState katana::JointMovementActionController::adjustJointGoalPositionsToMotorLimits ( const sensor_msgs::JointState &  jointGoal)
private

Definition at line 77 of file joint_movement_action_controller.cpp.

void katana::JointMovementActionController::executeCB ( const JMAS::GoalConstPtr &  goal)
private

Definition at line 110 of file joint_movement_action_controller.cpp.

bool katana::JointMovementActionController::suitableJointGoal ( const std::vector< std::string > &  jointGoalNames)
private

Checks if all joints in the joint goal match a among joints of the katana

Definition at line 50 of file joint_movement_action_controller.cpp.

Member Data Documentation

JMAS katana::JointMovementActionController::action_server_
private

Definition at line 63 of file joint_movement_action_controller.h.

std::vector<std::string> katana::JointMovementActionController::gripper_joints_
private

Definition at line 56 of file joint_movement_action_controller.h.

std::vector<std::string> katana::JointMovementActionController::joints_
private

Definition at line 55 of file joint_movement_action_controller.h.

boost::shared_ptr<AbstractKatana> katana::JointMovementActionController::katana_
private

Definition at line 57 of file joint_movement_action_controller.h.

sensor_msgs::JointState katana::JointMovementActionController::movement_goal_
private

Definition at line 59 of file joint_movement_action_controller.h.


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


katana
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:25