JointTrajectoryExecuter Class Reference

Public Member Functions
	JointTrajectoryExecuter (ros::NodeHandle &n)
	~JointTrajectoryExecuter ()

Private Types
typedef JTAS::GoalHandle	GoalHandle
typedef actionlib::ActionServer< pr2_controllers_msgs::JointTrajectoryAction >	JTAS

Private Member Functions
void	cancelCB (GoalHandle gh)
void	controllerStateCB (const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &msg)
void	goalCB (GoalHandle gh)
void	watchdog (const ros::TimerEvent &e)

Static Private Member Functions
static bool	setsEqual (const std::vector< std::string > &a, const std::vector< std::string > &b)

Private Attributes
JTAS	action_server_
GoalHandle	active_goal_
trajectory_msgs::JointTrajectory	current_traj_
std::map< std::string, double >	goal_constraints_
double	goal_time_constraint_
bool	has_active_goal_
std::vector< std::string >	joint_names_
pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr	last_controller_state_
ros::NodeHandle	node_
ros::Publisher	pub_controller_command_
double	stopped_velocity_tolerance_
ros::Subscriber	sub_controller_state_
std::map< std::string, double >	trajectory_constraints_
ros::Timer	watchdog_timer_

Detailed Description

Definition at line 41 of file joint_trajectory_action.cpp.

Member Typedef Documentation

typedef JTAS::GoalHandle JointTrajectoryExecuter::GoalHandle

private

Definition at line 45 of file joint_trajectory_action.cpp.

typedef actionlib::ActionServer<pr2_controllers_msgs::JointTrajectoryAction> JointTrajectoryExecuter::JTAS

private

Definition at line 44 of file joint_trajectory_action.cpp.

Constructor & Destructor Documentation

JointTrajectoryExecuter::JointTrajectoryExecuter ( ros::NodeHandle &  n )

inline

Definition at line 47 of file joint_trajectory_action.cpp.

JointTrajectoryExecuter::~JointTrajectoryExecuter ( )

inline

Definition at line 121 of file joint_trajectory_action.cpp.

Member Function Documentation

void JointTrajectoryExecuter::cancelCB ( GoalHandle  gh )

inlineprivate

Definition at line 215 of file joint_trajectory_action.cpp.

void JointTrajectoryExecuter::controllerStateCB ( const pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr &  msg )

inlineprivate

Definition at line 249 of file joint_trajectory_action.cpp.

void JointTrajectoryExecuter::goalCB ( GoalHandle  gh )

inlineprivate

Definition at line 183 of file joint_trajectory_action.cpp.

static bool JointTrajectoryExecuter::setsEqual ( const std::vector< std::string > &  a, const std::vector< std::string > &  b  )

inlinestaticprivate

Definition at line 130 of file joint_trajectory_action.cpp.

void JointTrajectoryExecuter::watchdog ( const ros::TimerEvent &  e )

inlineprivate

Definition at line 149 of file joint_trajectory_action.cpp.

Member Data Documentation

JTAS JointTrajectoryExecuter::action_server_

private

Definition at line 232 of file joint_trajectory_action.cpp.

GoalHandle JointTrajectoryExecuter::active_goal_

private

Definition at line 238 of file joint_trajectory_action.cpp.

trajectory_msgs::JointTrajectory JointTrajectoryExecuter::current_traj_

private

Definition at line 239 of file joint_trajectory_action.cpp.

std::map<std::string,double> JointTrajectoryExecuter::goal_constraints_

private

Definition at line 243 of file joint_trajectory_action.cpp.

double JointTrajectoryExecuter::goal_time_constraint_

private

Definition at line 245 of file joint_trajectory_action.cpp.

bool JointTrajectoryExecuter::has_active_goal_

private

Definition at line 237 of file joint_trajectory_action.cpp.

std::vector<std::string> JointTrajectoryExecuter::joint_names_

private

Definition at line 242 of file joint_trajectory_action.cpp.

pr2_controllers_msgs::JointTrajectoryControllerStateConstPtr JointTrajectoryExecuter::last_controller_state_

private

Definition at line 248 of file joint_trajectory_action.cpp.

ros::NodeHandle JointTrajectoryExecuter::node_

private

Definition at line 231 of file joint_trajectory_action.cpp.

ros::Publisher JointTrajectoryExecuter::pub_controller_command_

private

Definition at line 233 of file joint_trajectory_action.cpp.

double JointTrajectoryExecuter::stopped_velocity_tolerance_

private

Definition at line 246 of file joint_trajectory_action.cpp.

ros::Subscriber JointTrajectoryExecuter::sub_controller_state_

private

Definition at line 234 of file joint_trajectory_action.cpp.

std::map<std::string,double> JointTrajectoryExecuter::trajectory_constraints_

private

Definition at line 244 of file joint_trajectory_action.cpp.

ros::Timer JointTrajectoryExecuter::watchdog_timer_

private

Definition at line 235 of file joint_trajectory_action.cpp.

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

• joint_trajectory_action.cpp