#include <manipulation_module.h>
Public Member Functions | |
bool | getJointPoseCallback (thormang3_manipulation_module_msgs::GetJointPose::Request &req, thormang3_manipulation_module_msgs::GetJointPose::Response &res) |
bool | getKinematicsPoseCallback (thormang3_manipulation_module_msgs::GetKinematicsPose::Request &req, thormang3_manipulation_module_msgs::GetKinematicsPose::Response &res) |
void | initialize (const int control_cycle_msec, robotis_framework::Robot *robot) |
void | initPoseMsgCallback (const std_msgs::String::ConstPtr &msg) |
void | initPoseTrajGenerateProc () |
bool | isRunning () |
void | jointPoseMsgCallback (const thormang3_manipulation_module_msgs::JointPose::ConstPtr &msg) |
void | jointTrajGenerateProc () |
void | kinematicsPoseMsgCallback (const thormang3_manipulation_module_msgs::KinematicsPose::ConstPtr &msg) |
ManipulationModule () | |
void | process (std::map< std::string, robotis_framework::Dynamixel * > dxls, std::map< std::string, double > sensors) |
void | publishStatusMsg (unsigned int type, std::string msg) |
void | stop () |
void | taskTrajGenerateProc () |
virtual | ~ManipulationModule () |
Public Member Functions inherited from robotis_framework::MotionModule | |
ControlMode | getControlMode () |
bool | getModuleEnable () |
std::string | getModuleName () |
virtual void | onModuleDisable () |
virtual void | onModuleEnable () |
void | setModuleEnable (bool enable) |
virtual | ~MotionModule () |
Public Attributes | |
KinematicsDynamics * | robotis_ |
Public Attributes inherited from robotis_framework::MotionModule | |
std::map< std::string, DynamixelState * > | result_ |
Private Member Functions | |
void | parseData (const std::string &path) |
void | parseIniPoseData (const std::string &path) |
void | queueThread () |
void | setInverseKinematics (int cnt, Eigen::MatrixXd start_rotation) |
Private Attributes | |
int | all_time_steps_ |
bool | arm_angle_display_ |
int | cnt_ |
double | control_cycle_sec_ |
thormang3_manipulation_module_msgs::JointPose | goal_joint_pose_msg_ |
Eigen::VectorXd | goal_joint_position_ |
Eigen::MatrixXd | goal_joint_tra_ |
thormang3_manipulation_module_msgs::KinematicsPose | goal_kinematics_pose_msg_ |
Eigen::MatrixXd | goal_task_tra_ |
int | ik_id_end_ |
int | ik_id_start_ |
bool | ik_solving_ |
Eigen::MatrixXd | ik_start_rotation_ |
Eigen::MatrixXd | ik_target_position_ |
Eigen::MatrixXd | ik_target_rotation_ |
Eigen::MatrixXd | ik_weight_ |
Eigen::VectorXd | init_joint_position_ |
bool | is_moving_ |
std::map< std::string, int > | joint_name_to_id_ |
double | mov_time_ |
std_msgs::String | movement_done_msg_ |
ros::Publisher | movement_done_pub_ |
Eigen::VectorXd | present_joint_position_ |
boost::thread | queue_thread_ |
ros::Publisher | status_msg_pub_ |
boost::thread * | traj_generate_tread_ |
Additional Inherited Members | |
Static Public Member Functions inherited from robotis_framework::Singleton< ManipulationModule > | |
static void | destroyInstance () |
static T * | getInstance () |
Protected Member Functions inherited from robotis_framework::Singleton< ManipulationModule > | |
Singleton & | operator= (Singleton const &) |
Singleton (Singleton const &) | |
Singleton () | |
Protected Attributes inherited from robotis_framework::MotionModule | |
ControlMode | control_mode_ |
bool | enable_ |
std::string | module_name_ |
Definition at line 56 of file manipulation_module.h.
ManipulationModule::ManipulationModule | ( | ) |
Definition at line 28 of file manipulation_module.cpp.
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virtual |
Definition at line 91 of file manipulation_module.cpp.
bool ManipulationModule::getJointPoseCallback | ( | thormang3_manipulation_module_msgs::GetJointPose::Request & | req, |
thormang3_manipulation_module_msgs::GetJointPose::Response & | res | ||
) |
Definition at line 220 of file manipulation_module.cpp.
bool ManipulationModule::getKinematicsPoseCallback | ( | thormang3_manipulation_module_msgs::GetKinematicsPose::Request & | req, |
thormang3_manipulation_module_msgs::GetKinematicsPose::Response & | res | ||
) |
Definition at line 238 of file manipulation_module.cpp.
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virtual |
Implements robotis_framework::MotionModule.
Definition at line 96 of file manipulation_module.cpp.
void ManipulationModule::initPoseMsgCallback | ( | const std_msgs::String::ConstPtr & | msg | ) |
Definition at line 193 of file manipulation_module.cpp.
void ManipulationModule::initPoseTrajGenerateProc | ( | ) |
Definition at line 332 of file manipulation_module.cpp.
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virtual |
Implements robotis_framework::MotionModule.
Definition at line 623 of file manipulation_module.cpp.
void ManipulationModule::jointPoseMsgCallback | ( | const thormang3_manipulation_module_msgs::JointPose::ConstPtr & | msg | ) |
Definition at line 314 of file manipulation_module.cpp.
void ManipulationModule::jointTrajGenerateProc | ( | ) |
Definition at line 353 of file manipulation_module.cpp.
void ManipulationModule::kinematicsPoseMsgCallback | ( | const thormang3_manipulation_module_msgs::KinematicsPose::ConstPtr & | msg | ) |
Definition at line 271 of file manipulation_module.cpp.
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private |
Definition at line 113 of file manipulation_module.cpp.
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private |
Definition at line 136 of file manipulation_module.cpp.
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Implements robotis_framework::MotionModule.
Definition at line 479 of file manipulation_module.cpp.
void ManipulationModule::publishStatusMsg | ( | unsigned int | type, |
std::string | msg | ||
) |
Definition at line 628 of file manipulation_module.cpp.
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Definition at line 167 of file manipulation_module.cpp.
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Definition at line 460 of file manipulation_module.cpp.
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Implements robotis_framework::MotionModule.
Definition at line 614 of file manipulation_module.cpp.
void ManipulationModule::taskTrajGenerateProc | ( | ) |
Definition at line 405 of file manipulation_module.cpp.
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Definition at line 115 of file manipulation_module.h.
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Definition at line 95 of file manipulation_module.h.
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Definition at line 114 of file manipulation_module.h.
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Definition at line 97 of file manipulation_module.h.
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Definition at line 121 of file manipulation_module.h.
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Definition at line 108 of file manipulation_module.h.
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Definition at line 117 of file manipulation_module.h.
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Definition at line 122 of file manipulation_module.h.
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Definition at line 118 of file manipulation_module.h.
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Definition at line 127 of file manipulation_module.h.
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Definition at line 126 of file manipulation_module.h.
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Definition at line 125 of file manipulation_module.h.
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Definition at line 130 of file manipulation_module.h.
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Definition at line 129 of file manipulation_module.h.
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Definition at line 131 of file manipulation_module.h.
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Definition at line 132 of file manipulation_module.h.
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Definition at line 109 of file manipulation_module.h.
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Definition at line 112 of file manipulation_module.h.
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Definition at line 136 of file manipulation_module.h.
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Definition at line 113 of file manipulation_module.h.
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Definition at line 101 of file manipulation_module.h.
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Definition at line 104 of file manipulation_module.h.
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Definition at line 107 of file manipulation_module.h.
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Definition at line 98 of file manipulation_module.h.
KinematicsDynamics* thormang3::ManipulationModule::robotis_ |
Definition at line 87 of file manipulation_module.h.
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Definition at line 103 of file manipulation_module.h.
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Definition at line 99 of file manipulation_module.h.