#include <action_server.h>

Inheritance diagram for ActionServer:

Public Member Functions
	ActionServer (ActionTrajectoryFollowerInterface &follower, std::vector< std::string > &joint_names, double max_velocity)

virtual bool	consume (RTState_V1_6__7 &state)

virtual bool	consume (RTState_V1_8 &state)

virtual bool	consume (RTState_V3_0__1 &state)

virtual bool	consume (RTState_V3_2__3 &state)

virtual void	onRobotStateChange (RobotState state)

void	start ()

Public Member Functions inherited from URRTPacketConsumer
virtual bool	consume (shared_ptr< RTPacket > packet)

Public Member Functions inherited from IConsumer< RTPacket >
virtual void	onTimeout ()

virtual void	setupConsumer ()

virtual void	stopConsumer ()

virtual void	teardownConsumer ()

Private Types
typedef control_msgs::FollowJointTrajectoryAction	Action

typedef actionlib::ServerGoalHandle< Action >	GoalHandle

typedef control_msgs::FollowJointTrajectoryResult	Result

typedef actionlib::ActionServer< Action >	Server

Private Member Functions
void	interruptGoal (GoalHandle &gh)

void	onCancel (GoalHandle gh)

void	onGoal (GoalHandle gh)

std::vector< size_t >	reorderMap (std::vector< std::string > goal_joints)

void	trajectoryThread ()

bool	try_execute (GoalHandle &gh, Result &res)

bool	updateState (RTShared &data)

bool	validate (GoalHandle &gh, Result &res)

bool	validateJoints (GoalHandle &gh, Result &res)

bool	validateState (GoalHandle &gh, Result &res)

bool	validateTrajectory (GoalHandle &gh, Result &res)

Private Attributes
Server	as_

GoalHandle	curr_gh_

ActionTrajectoryFollowerInterface &	follower_

std::atomic< bool >	has_goal_

std::atomic< bool >	interrupt_traj_

std::vector< std::string >	joint_names_

std::set< std::string >	joint_set_

double	max_velocity_

ros::NodeHandle	nh_

std::array< double, 6 >	q_actual_

std::array< double, 6 >	qd_actual_

std::atomic< bool >	running_

RobotState	state_

std::condition_variable	tj_cv_

std::mutex	tj_mutex_

std::thread	tj_thread_

Detailed Description

Definition at line 40 of file action_server.h.

Member Typedef Documentation

typedef control_msgs::FollowJointTrajectoryAction ActionServer::Action

private

Definition at line 43 of file action_server.h.

typedef actionlib::ServerGoalHandle<Action> ActionServer::GoalHandle

private

Definition at line 45 of file action_server.h.

typedef control_msgs::FollowJointTrajectoryResult ActionServer::Result

private

Definition at line 44 of file action_server.h.

typedef actionlib::ActionServer<Action> ActionServer::Server

private

Definition at line 46 of file action_server.h.

Constructor & Destructor Documentation

ActionServer::ActionServer	(	ActionTrajectoryFollowerInterface &	follower,
		std::vector< std::string > &	joint_names,
		double	max_velocity
	)

Definition at line 24 of file action_server.cpp.

Member Function Documentation

bool ActionServer::consume ( RTState_V1_6__7 & state )

virtual

Implements URRTPacketConsumer.

Definition at line 86 of file action_server.cpp.

bool ActionServer::consume ( RTState_V1_8 & state )

virtual

Implements URRTPacketConsumer.

Definition at line 90 of file action_server.cpp.

bool ActionServer::consume ( RTState_V3_0__1 & state )

virtual

Implements URRTPacketConsumer.

Definition at line 94 of file action_server.cpp.

bool ActionServer::consume ( RTState_V3_2__3 & state )

virtual

Implements URRTPacketConsumer.

Definition at line 98 of file action_server.cpp.

void ActionServer::interruptGoal ( GoalHandle & gh )

private

void ActionServer::onCancel ( GoalHandle gh )

private

Definition at line 117 of file action_server.cpp.

void ActionServer::onGoal ( GoalHandle gh )

private

Definition at line 103 of file action_server.cpp.

void ActionServer::onRobotStateChange ( RobotState state )

virtual

Implements Service.

Definition at line 50 of file action_server.cpp.

std::vector< size_t > ActionServer::reorderMap ( std::vector< std::string > goal_joints )

private

Definition at line 263 of file action_server.cpp.

void ActionServer::start ( )

Definition at line 39 of file action_server.cpp.

void ActionServer::trajectoryThread ( )

private

Definition at line 280 of file action_server.cpp.

bool ActionServer::try_execute	(	GoalHandle &	gh,
		Result &	res
	)

private

Definition at line 238 of file action_server.cpp.

bool ActionServer::updateState ( RTShared & data )

private

Definition at line 79 of file action_server.cpp.

bool ActionServer::validate	(	GoalHandle &	gh,
		Result &	res
	)

private

Definition at line 129 of file action_server.cpp.

bool ActionServer::validateJoints	(	GoalHandle &	gh,
		Result &	res
	)

private

Definition at line 159 of file action_server.cpp.

bool ActionServer::validateState	(	GoalHandle &	gh,
		Result &	res
	)

private

Definition at line 134 of file action_server.cpp.

bool ActionServer::validateTrajectory	(	GoalHandle &	gh,
		Result &	res
	)

private

Definition at line 178 of file action_server.cpp.

Member Data Documentation

Server ActionServer::as_

private

Definition at line 49 of file action_server.h.

GoalHandle ActionServer::curr_gh_

private

Definition at line 55 of file action_server.h.

ActionTrajectoryFollowerInterface& ActionServer::follower_

private

Definition at line 62 of file action_server.h.

std::atomic<bool> ActionServer::has_goal_

private

Definition at line 57 of file action_server.h.

std::atomic<bool> ActionServer::interrupt_traj_

private

Definition at line 56 of file action_server.h.

std::vector<std::string> ActionServer::joint_names_

private

Definition at line 51 of file action_server.h.

std::set<std::string> ActionServer::joint_set_

private

Definition at line 52 of file action_server.h.

double ActionServer::max_velocity_

private

Definition at line 53 of file action_server.h.

ros::NodeHandle ActionServer::nh_

private

Definition at line 48 of file action_server.h.

std::array<double, 6> ActionServer::q_actual_

private

Definition at line 65 of file action_server.h.

std::array<double, 6> ActionServer::qd_actual_

private

Definition at line 65 of file action_server.h.

std::atomic<bool> ActionServer::running_

private

Definition at line 57 of file action_server.h.

RobotState ActionServer::state_

private

Definition at line 64 of file action_server.h.

std::condition_variable ActionServer::tj_cv_

private

Definition at line 59 of file action_server.h.

std::mutex ActionServer::tj_mutex_

private

Definition at line 58 of file action_server.h.

std::thread ActionServer::tj_thread_

private

Definition at line 60 of file action_server.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation