OpenManipulatorTeleop Class Reference

#include <open_manipulator_teleop_joystick.h>

Public Member Functions
void	disableWaitingForEnter (void)
std::vector< double >	getPresentJointAngle ()
std::vector< double >	getPresentJointAngle ()
std::vector< double >	getPresentKinematicsPose ()
std::vector< double >	getPresentKinematicsPose ()
void	initClient ()
void	initClient ()
void	initSubscriber ()
void	initSubscriber ()
void	jointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	jointStatesCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	joyCallback (const sensor_msgs::Joy::ConstPtr &msg)
void	kinematicsPoseCallback (const open_manipulator_msgs::KinematicsPose::ConstPtr &msg)
void	kinematicsPoseCallback (const open_manipulator_msgs::KinematicsPose::ConstPtr &msg)
	OpenManipulatorTeleop ()
	OpenManipulatorTeleop ()
void	printText ()
void	restoreTerminalSettings (void)
void	setGoal (const char *str)
void	setGoal (char ch)
bool	setJointSpacePath (std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
bool	setJointSpacePath (std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
bool	setJointSpacePathFromPresent (std::vector< std::string > joint_name, std::vector< double > joint_angle, double path_time)
bool	setTaskSpacePathFromPresentPositionOnly (std::vector< double > kinematics_pose, double path_time)
bool	setTaskSpacePathFromPresentPositionOnly (std::vector< double > kinematics_pose, double path_time)
bool	setToolControl (std::vector< double > joint_angle)
bool	setToolControl (std::vector< double > joint_angle)
	~OpenManipulatorTeleop ()
	~OpenManipulatorTeleop ()

Private Attributes
ros::ServiceClient	goal_joint_space_path_client_
ros::ServiceClient	goal_joint_space_path_from_present_client_
ros::ServiceClient	goal_task_space_path_from_present_position_only_client_
ros::ServiceClient	goal_tool_control_client_
ros::Subscriber	joint_states_sub_
ros::Subscriber	joy_command_sub_
ros::Subscriber	kinematics_pose_sub_
ros::NodeHandle	node_handle_
struct termios	oldt_
std::vector< double >	present_joint_angle_
std::vector< double >	present_kinematic_position_
ros::NodeHandle	priv_node_handle_

Detailed Description

Definition at line 17 of file open_manipulator_teleop_joystick.h.

Constructor & Destructor Documentation

OpenManipulatorTeleop::OpenManipulatorTeleop

(

)

Definition at line 21 of file open_manipulator_teleop_joystick.cpp.

OpenManipulatorTeleop::~OpenManipulatorTeleop

(

)

Definition at line 34 of file open_manipulator_teleop_joystick.cpp.

OpenManipulatorTeleop::OpenManipulatorTeleop

(

)

OpenManipulatorTeleop::~OpenManipulatorTeleop

(

)

Member Function Documentation

void OpenManipulatorTeleop::disableWaitingForEnter

(

void

)

Definition at line 364 of file open_manipulator_teleop_keyboard.cpp.

std::vector<double> OpenManipulatorTeleop::getPresentJointAngle

(

)

std::vector< double > OpenManipulatorTeleop::getPresentJointAngle

(

)

Definition at line 94 of file open_manipulator_teleop_joystick.cpp.

std::vector<double> OpenManipulatorTeleop::getPresentKinematicsPose

(

)

std::vector< double > OpenManipulatorTeleop::getPresentKinematicsPose

(

)

Definition at line 98 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::initClient

(

)

Definition at line 42 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::initClient

(

)

void OpenManipulatorTeleop::initSubscriber

(

)

Definition at line 49 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::initSubscriber

(

)

void OpenManipulatorTeleop::jointStatesCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 56 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::jointStatesCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

void OpenManipulatorTeleop::joyCallback

(

const sensor_msgs::Joy::ConstPtr &

msg

)

Definition at line 79 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::kinematicsPoseCallback

(

const open_manipulator_msgs::KinematicsPose::ConstPtr &

msg

)

Definition at line 71 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::kinematicsPoseCallback

(

const open_manipulator_msgs::KinematicsPose::ConstPtr &

msg

)

void OpenManipulatorTeleop::printText

(

)

Definition at line 146 of file open_manipulator_teleop_keyboard.cpp.

void OpenManipulatorTeleop::restoreTerminalSettings

(

void

)

Definition at line 359 of file open_manipulator_teleop_keyboard.cpp.

void OpenManipulatorTeleop::setGoal

(

const char *

str

)

Definition at line 146 of file open_manipulator_teleop_joystick.cpp.

void OpenManipulatorTeleop::setGoal

(

char

ch

)

Definition at line 190 of file open_manipulator_teleop_keyboard.cpp.

bool OpenManipulatorTeleop::setJointSpacePath	(	std::vector< std::string >	joint_name,
		std::vector< double >	joint_angle,
		double	path_time
	)

Definition at line 103 of file open_manipulator_teleop_joystick.cpp.

bool OpenManipulatorTeleop::setJointSpacePath	(	std::vector< std::string >	joint_name,
		std::vector< double >	joint_angle,
		double	path_time
	)

bool OpenManipulatorTeleop::setJointSpacePathFromPresent	(	std::vector< std::string >	joint_name,
		std::vector< double >	joint_angle,
		double	path_time
	)

Definition at line 89 of file open_manipulator_teleop_keyboard.cpp.

bool OpenManipulatorTeleop::setTaskSpacePathFromPresentPositionOnly	(	std::vector< double >	kinematics_pose,
		double	path_time
	)

bool OpenManipulatorTeleop::setTaskSpacePathFromPresentPositionOnly	(	std::vector< double >	kinematics_pose,
		double	path_time
	)

Definition at line 130 of file open_manipulator_teleop_joystick.cpp.

bool OpenManipulatorTeleop::setToolControl

(

std::vector< double >

joint_angle

)

bool OpenManipulatorTeleop::setToolControl

(

std::vector< double >

joint_angle

)

Definition at line 117 of file open_manipulator_teleop_joystick.cpp.

Member Data Documentation

ros::ServiceClient OpenManipulatorTeleop::goal_joint_space_path_client_

private

Definition at line 25 of file open_manipulator_teleop_joystick.h.

ros::ServiceClient OpenManipulatorTeleop::goal_joint_space_path_from_present_client_

private

Definition at line 23 of file open_manipulator_teleop_keyboard.h.

ros::ServiceClient OpenManipulatorTeleop::goal_task_space_path_from_present_position_only_client_

private

Definition at line 24 of file open_manipulator_teleop_joystick.h.

ros::ServiceClient OpenManipulatorTeleop::goal_tool_control_client_

private

Definition at line 26 of file open_manipulator_teleop_joystick.h.

ros::Subscriber OpenManipulatorTeleop::joint_states_sub_

private

Definition at line 28 of file open_manipulator_teleop_joystick.h.

ros::Subscriber OpenManipulatorTeleop::joy_command_sub_

private

Definition at line 30 of file open_manipulator_teleop_joystick.h.

ros::Subscriber OpenManipulatorTeleop::kinematics_pose_sub_

private

Definition at line 29 of file open_manipulator_teleop_joystick.h.

ros::NodeHandle OpenManipulatorTeleop::node_handle_

private

Definition at line 21 of file open_manipulator_teleop_joystick.h.

struct termios OpenManipulatorTeleop::oldt_

private

Definition at line 34 of file open_manipulator_teleop_keyboard.h.

std::vector< double > OpenManipulatorTeleop::present_joint_angle_

private

Definition at line 32 of file open_manipulator_teleop_joystick.h.

std::vector< double > OpenManipulatorTeleop::present_kinematic_position_

private

Definition at line 33 of file open_manipulator_teleop_joystick.h.

ros::NodeHandle OpenManipulatorTeleop::priv_node_handle_

private

Definition at line 22 of file open_manipulator_teleop_joystick.h.

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

• open_manipulator_teleop_joystick.h
• open_manipulator_teleop_keyboard.h
• open_manipulator_teleop_joystick.cpp
• open_manipulator_teleop_keyboard.cpp