controller::LaserScannerTrajController Class Reference

#include <laser_scanner_traj_controller.h>

Public Member Functions
int	getCurProfileSegment ()
	Returns the current trajectory segment we're executing in our current profile. More...
double	getCurProfileTime ()
	Returns what time we're currently at in the profile being executed. More...
double	getProfileDuration ()
	Returns the length (in seconds) of our current profile. More...
bool	init (pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
	LaserScannerTrajController ()
bool	setPeriodicCmd (const pr2_msgs::PeriodicCmd &cmd)
bool	setTrajCmd (const pr2_msgs::LaserTrajCmd &traj_cmd)
bool	setTrajectory (const std::vector< trajectory::Trajectory::TPoint > &traj_points, double max_rate, double max_acc, std::string interp)
virtual void	update ()
	~LaserScannerTrajController ()

Private Attributes
filters::FilterChain< double >	d_error_filter_chain_
pr2_mechanism_model::JointState *	joint_state_
double	last_error_
ros::Time	last_time_
double	max_acc_
double	max_rate_
std::string	name_
control_toolbox::Pid	pid_controller_
pr2_mechanism_model::RobotState *	robot_
tf::Vector3	track_point_
double	tracking_offset_
trajectory::Trajectory	traj_
double	traj_command_
double	traj_duration_
boost::mutex	traj_lock_
ros::Time	traj_start_time_

Detailed Description

Definition at line 66 of file laser_scanner_traj_controller.h.

Constructor & Destructor Documentation

LaserScannerTrajController::LaserScannerTrajController

(

)

Definition at line 47 of file laser_scanner_traj_controller.cpp.

LaserScannerTrajController::~LaserScannerTrajController

(

)

Definition at line 53 of file laser_scanner_traj_controller.cpp.

Member Function Documentation

int LaserScannerTrajController::getCurProfileSegment ( )

inline

Returns the current trajectory segment we're executing in our current profile.

Definition at line 221 of file laser_scanner_traj_controller.cpp.

double LaserScannerTrajController::getCurProfileTime ( )

inline

Returns what time we're currently at in the profile being executed.

Definition at line 208 of file laser_scanner_traj_controller.cpp.

double LaserScannerTrajController::getProfileDuration ( )

inline

Returns the length (in seconds) of our current profile.

Definition at line 216 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::init	(	pr2_mechanism_model::RobotState *	robot,
		ros::NodeHandle &	n
	)

Definition at line 58 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::setPeriodicCmd

(

const pr2_msgs::PeriodicCmd &

cmd

)

Definition at line 255 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::setTrajCmd

(

const pr2_msgs::LaserTrajCmd &

traj_cmd

)

Definition at line 313 of file laser_scanner_traj_controller.cpp.

bool LaserScannerTrajController::setTrajectory	(	const std::vector< trajectory::Trajectory::TPoint > &	traj_points,
		double	max_rate,
		double	max_acc,
		std::string	interp
	)

Definition at line 227 of file laser_scanner_traj_controller.cpp.

void LaserScannerTrajController::update ( void  )

virtual

Todo:

replace this link tracker with a KDL inverse kinematics solver

Definition at line 135 of file laser_scanner_traj_controller.cpp.

Member Data Documentation

filters::FilterChain<double> controller::LaserScannerTrajController::d_error_filter_chain_

private

Definition at line 113 of file laser_scanner_traj_controller.h.

pr2_mechanism_model::JointState* controller::LaserScannerTrajController::joint_state_

private

Definition at line 95 of file laser_scanner_traj_controller.h.

double controller::LaserScannerTrajController::last_error_

private

Definition at line 115 of file laser_scanner_traj_controller.h.

ros::Time controller::LaserScannerTrajController::last_time_

private

Definition at line 114 of file laser_scanner_traj_controller.h.

double controller::LaserScannerTrajController::max_acc_

private

Definition at line 109 of file laser_scanner_traj_controller.h.

double controller::LaserScannerTrajController::max_rate_

private

Definition at line 108 of file laser_scanner_traj_controller.h.

std::string controller::LaserScannerTrajController::name_

private

Definition at line 102 of file laser_scanner_traj_controller.h.

control_toolbox::Pid controller::LaserScannerTrajController::pid_controller_

private

Definition at line 112 of file laser_scanner_traj_controller.h.

pr2_mechanism_model::RobotState* controller::LaserScannerTrajController::robot_

private

Definition at line 94 of file laser_scanner_traj_controller.h.

tf::Vector3 controller::LaserScannerTrajController::track_point_

private

Definition at line 100 of file laser_scanner_traj_controller.h.

double controller::LaserScannerTrajController::tracking_offset_

private

Definition at line 116 of file laser_scanner_traj_controller.h.

trajectory::Trajectory controller::LaserScannerTrajController::traj_

private

Definition at line 98 of file laser_scanner_traj_controller.h.

double controller::LaserScannerTrajController::traj_command_

private

Definition at line 117 of file laser_scanner_traj_controller.h.

double controller::LaserScannerTrajController::traj_duration_

private

Definition at line 105 of file laser_scanner_traj_controller.h.

boost::mutex controller::LaserScannerTrajController::traj_lock_

private

Definition at line 97 of file laser_scanner_traj_controller.h.

ros::Time controller::LaserScannerTrajController::traj_start_time_

private

Definition at line 104 of file laser_scanner_traj_controller.h.

---

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

• laser_scanner_traj_controller.h
• laser_scanner_traj_controller.cpp