cartesian_wrench_controller.h
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29 
54 #ifndef CARTESIAN_WRENCH_CONTROLLER_H
55 #define CARTESIAN_WRENCH_CONTROLLER_H
56 
57 #include <vector>
58 #include <kdl/chain.hpp>
59 #include <kdl/frames.hpp>
60 #include <kdl/chainjnttojacsolver.hpp>
61 #include <ros/node_handle.h>
62 #include <geometry_msgs/Wrench.h>
65 #include <tf/transform_datatypes.h>
67 #include <boost/scoped_ptr.hpp>
68 #include <boost/thread/condition.hpp>
69 
70 
71 namespace controller {
72 
74 {
75 public:
78 
80 
81  void starting();
82  void update();
83 
84  // input of the controller
86 
87 private:
90  void command(const geometry_msgs::WrenchConstPtr& wrench_msg);
93 
95  boost::scoped_ptr<KDL::ChainJntToJacSolver> jnt_to_jac_solver_;
98 
99 };
100 
101 } // namespace
102 
103 
104 #endif
boost::scoped_ptr< KDL::ChainJntToJacSolver > jnt_to_jac_solver_
bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void command(const geometry_msgs::WrenchConstPtr &wrench_msg)
pr2_mechanism_model::RobotState * robot_state_


robot_mechanism_controllers
Author(s): John Hsu, Melonee Wise, Stuart Glaser
autogenerated on Mon Jun 10 2019 14:26:26