Controller for executing joint-space trajectories on a group of joints. More...

#include <joint_trajectory_controller.h>

Inheritance diagram for joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >:

Classes
struct	TimeData

Public Member Functions
	JointTrajectoryController ()

Non Real-Time Safe Functions
bool	init (HardwareInterface *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh)

Real-Time Safe Functions
void	starting (const ros::Time &time)
	Holds the current position. More...

void	stopping (const ros::Time &)
	Cancels the active action goal, if any. More...

void	update (const ros::Time &time, const ros::Duration &period)

Public Member Functions inherited from controller_interface::Controller< HardwareInterface >
	Controller ()

virtual bool	init (HardwareInterface *, ros::NodeHandle &)

virtual	~Controller ()

Public Member Functions inherited from controller_interface::ControllerBase
	ControllerBase ()

bool	isRunning ()

bool	isRunning ()

bool	startRequest (const ros::Time &time)

bool	startRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

bool	stopRequest (const ros::Time &time)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

void	updateRequest (const ros::Time &time, const ros::Duration &period)

virtual	~ControllerBase ()

Protected Types
typedef actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >	ActionServer

typedef boost::shared_ptr< ActionServer >	ActionServerPtr

typedef ActionServer::GoalHandle	GoalHandle

typedef HardwareInterfaceAdapter< HardwareInterface, typename Segment::State >	HwIfaceAdapter

typedef HardwareInterface::ResourceHandleType	JointHandle

typedef trajectory_msgs::JointTrajectory::ConstPtr	JointTrajectoryConstPtr

typedef realtime_tools::RealtimeServerGoalHandle< control_msgs::FollowJointTrajectoryAction >	RealtimeGoalHandle

typedef boost::shared_ptr< RealtimeGoalHandle >	RealtimeGoalHandlePtr

typedef Segment::Scalar	Scalar

typedef JointTrajectorySegment< SegmentImpl >	Segment

typedef realtime_tools::RealtimePublisher< control_msgs::JointTrajectoryControllerState >	StatePublisher

typedef boost::scoped_ptr< StatePublisher >	StatePublisherPtr

typedef std::vector< TrajectoryPerJoint >	Trajectory

typedef realtime_tools::RealtimeBox< TrajectoryPtr >	TrajectoryBox

typedef std::vector< Segment >	TrajectoryPerJoint

typedef boost::shared_ptr< TrajectoryPerJoint >	TrajectoryPerJointPtr

typedef boost::shared_ptr< Trajectory >	TrajectoryPtr

Protected Member Functions
virtual void	cancelCB (GoalHandle gh)

virtual void	goalCB (GoalHandle gh)

virtual void	preemptActiveGoal ()

void	publishState (const ros::Time &time)
	Publish current controller state at a throttled frequency. More...

virtual bool	queryStateService (control_msgs::QueryTrajectoryState::Request &req, control_msgs::QueryTrajectoryState::Response &resp)

void	setHoldPosition (const ros::Time &time, RealtimeGoalHandlePtr gh=RealtimeGoalHandlePtr())
	Hold the current position. More...

virtual void	trajectoryCommandCB (const JointTrajectoryConstPtr &msg)

virtual bool	updateTrajectoryCommand (const JointTrajectoryConstPtr &msg, RealtimeGoalHandlePtr gh, std::string *error_string=0)

Protected Member Functions inherited from controller_interface::Controller< HardwareInterface >
std::string	getHardwareInterfaceType () const

virtual bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources)

Protected Attributes
ros::Duration	action_monitor_period_

ActionServerPtr	action_server_

bool	allow_partial_joints_goal_

std::vector< bool >	angle_wraparound_
	Whether controlled joints wrap around or not. More...

ros::NodeHandle	controller_nh_

TrajectoryBox	curr_trajectory_box_

Segment::State	current_state_
	Preallocated workspace variable. More...

SegmentTolerances< Scalar >	default_tolerances_
	Default trajectory segment tolerances. More...

Segment::State	desired_joint_state_
	Preallocated workspace variable. More...

Segment::State	desired_state_
	Preallocated workspace variable. More...

ros::Timer	goal_handle_timer_

TrajectoryPtr	hold_trajectory_ptr_
	Last hold trajectory values. More...

HwIfaceAdapter	hw_iface_adapter_
	Adapts desired trajectory state to HW interface. More...

std::vector< std::string >	joint_names_
	Controlled joint names. More...

std::vector< JointHandle >	joints_
	Handles to controlled joints. More...

ros::Time	last_state_publish_time_

std::string	name_
	Controller name. More...

ros::ServiceServer	query_state_service_

RealtimeGoalHandlePtr	rt_active_goal_
	Currently active action goal, if any. More...

Segment::State	state_error_
	Preallocated workspace variable. More...

Segment::State	state_joint_error_
	Preallocated workspace variable. More...

StatePublisherPtr	state_publisher_

ros::Duration	state_publisher_period_

Segment::Time	stop_trajectory_duration_
	Duration for stop ramp. If zero, the controller stops at the actual position. More...

boost::dynamic_bitset	successful_joint_traj_

realtime_tools::RealtimeBuffer< TimeData >	time_data_

ros::Subscriber	trajectory_command_sub_

bool	verbose_
	Hard coded verbose flag to help in debugging. More...

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources

Public Attributes inherited from controller_interface::ControllerBase
	CONSTRUCTED

	INITIALIZED

	RUNNING

enum controller_interface::ControllerBase:: { ... }	state_

Detailed Description

template<class SegmentImpl, class HardwareInterface>
class joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >

Controller for executing joint-space trajectories on a group of joints.

Note: Non-developer documentation and usage instructions can be found in the package's ROS wiki page.

Template Parameters

SegmentImpl

Trajectory segment representation to use. The type must comply with the following structure:

class FooSegment
{
public:
  // Required types
  typedef double                 Scalar; // Scalar can be anything convertible to double
  typedef Scalar                 Time;
  typedef PosVelAccState<Scalar> State;
  // Default constructor
  FooSegment();
  // Constructor from start and end states (boundary conditions)
  FooSegment(const Time&  start_time,
             const State& start_state,
             const Time&  end_time,
             const State& end_state);
  // Start and end states initializer (the guts of the above constructor)
  // May throw std::invalid_argument if parameters are invalid
  void init(const Time&  start_time,
            const State& start_state,
            const Time&  end_time,
            const State& end_state);
  // Sampler (realtime-safe)
  void sample(const Time& time, State& state) const;
  // Accesors (realtime-safe)
  Time startTime()    const;
  Time endTime()      const;
  unsigned int size() const;
};

HardwareInterface Controller hardware interface. Currently hardware_interface::PositionJointInterface, hardware_interface::VelocityJointInterface, and hardware_interface::EffortJointInterface are supported out-of-the-box.

Definition at line 127 of file joint_trajectory_controller.h.

Member Typedef Documentation

template<class SegmentImpl , class HardwareInterface >

typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::ActionServer

protected

Definition at line 160 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef boost::shared_ptr<ActionServer> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::ActionServerPtr

protected

Definition at line 161 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef ActionServer::GoalHandle joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::GoalHandle

protected

Definition at line 162 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef HardwareInterfaceAdapter<HardwareInterface, typename Segment::State> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::HwIfaceAdapter

protected

Definition at line 177 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef HardwareInterface::ResourceHandleType joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::JointHandle

protected

Definition at line 178 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef trajectory_msgs::JointTrajectory::ConstPtr joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::JointTrajectoryConstPtr

protected

Definition at line 165 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::RealtimeGoalHandle

protected

Definition at line 163 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef boost::shared_ptr<RealtimeGoalHandle> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::RealtimeGoalHandlePtr

protected

Definition at line 164 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef Segment::Scalar joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::Scalar

protected

Definition at line 175 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef JointTrajectorySegment<SegmentImpl> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::Segment

protected

Definition at line 169 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef realtime_tools::RealtimePublisher<control_msgs::JointTrajectoryControllerState> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::StatePublisher

protected

Definition at line 166 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef boost::scoped_ptr<StatePublisher> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::StatePublisherPtr

protected

Definition at line 167 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef std::vector<TrajectoryPerJoint> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::Trajectory

protected

Definition at line 171 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef realtime_tools::RealtimeBox<TrajectoryPtr> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::TrajectoryBox

protected

Definition at line 174 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef std::vector<Segment> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::TrajectoryPerJoint

protected

Definition at line 170 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef boost::shared_ptr<TrajectoryPerJoint> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::TrajectoryPerJointPtr

protected

Definition at line 173 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

typedef boost::shared_ptr<Trajectory> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::TrajectoryPtr

protected

Definition at line 172 of file joint_trajectory_controller.h.

Constructor & Destructor Documentation

template<class SegmentImpl , class HardwareInterface >

joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::JointTrajectoryController ( )

Definition at line 190 of file joint_trajectory_controller_impl.h.

Member Function Documentation

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::cancelCB ( GoalHandle gh )

protectedvirtual

Definition at line 659 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::goalCB ( GoalHandle gh )

protectedvirtual

Definition at line 586 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

bool joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::init	(	HardwareInterface *	hw,
		ros::NodeHandle &	root_nh,
		ros::NodeHandle &	controller_nh
	)

virtual

Reimplemented from controller_interface::Controller< HardwareInterface >.

Definition at line 206 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::preemptActiveGoal ( )

inlineprotectedvirtual

Definition at line 175 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::publishState ( const ros::Time & time )

protected

Publish current controller state at a throttled frequency.

Note: This method is realtime-safe and is meant to be called from update, as it shares data with it without any locking.

Definition at line 731 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

bool joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::queryStateService	(	control_msgs::QueryTrajectoryState::Request &	req,
		control_msgs::QueryTrajectoryState::Response &	resp
	)

protectedvirtual

Definition at line 683 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::setHoldPosition	(	const ros::Time &	time,
		RealtimeGoalHandlePtr	gh = `RealtimeGoalHandlePtr()`
	)

protected

Hold the current position.

Substitutes the current trajectory with a single-segment one going from the current position and velocity to zero velocity.

See also: parameter stop_trajectory_duration

Note: This method is realtime-safe.

Definition at line 756 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::starting ( const ros::Time & time )

inlinevirtual

Holds the current position.

Reimplemented from controller_interface::ControllerBase.

Definition at line 133 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::stopping ( const ros::Time & )

inlinevirtual

Cancels the active action goal, if any.

Reimplemented from controller_interface::ControllerBase.

Definition at line 160 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::trajectoryCommandCB ( const JointTrajectoryConstPtr & msg )

inlineprotectedvirtual

Definition at line 167 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

void joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::update	(	const ros::Time &	time,
		const ros::Duration &	period
	)

virtual

Implements controller_interface::ControllerBase.

Definition at line 355 of file joint_trajectory_controller_impl.h.

template<class SegmentImpl , class HardwareInterface >

bool joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::updateTrajectoryCommand	(	const JointTrajectoryConstPtr &	msg,
		RealtimeGoalHandlePtr	gh,
		std::string *	error_string = `0`
	)

protectedvirtual

Definition at line 500 of file joint_trajectory_controller_impl.h.

Member Data Documentation

template<class SegmentImpl , class HardwareInterface >

ros::Duration joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::action_monitor_period_

protected

Definition at line 209 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ActionServerPtr joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::action_server_

protected

Definition at line 218 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

bool joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::allow_partial_joints_goal_

protected

Definition at line 213 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

std::vector<bool> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::angle_wraparound_

protected

Whether controlled joints wrap around or not.

Definition at line 183 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ros::NodeHandle joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::controller_nh_

protected

Definition at line 216 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

TrajectoryBox joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::curr_trajectory_box_

protected

Thread-safe container with a smart pointer to trajectory currently being followed. Can be either a hold trajectory or a trajectory received from a ROS message.

We store the hold trajectory in a separate class member because the starting(time) method must be realtime-safe. The (single segment) hold trajectory is preallocated at initialization time and its size is kept unchanged.

Definition at line 197 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

Segment::State joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::current_state_

protected

Preallocated workspace variable.

Definition at line 200 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

SegmentTolerances<Scalar> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::default_tolerances_

protected

Default trajectory segment tolerances.

Definition at line 185 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

Segment::State joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::desired_joint_state_

protected

Preallocated workspace variable.

Definition at line 203 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

Segment::State joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::desired_state_

protected

Preallocated workspace variable.

Definition at line 201 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ros::Timer joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::goal_handle_timer_

protected

Definition at line 222 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

TrajectoryPtr joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::hold_trajectory_ptr_

protected

Last hold trajectory values.

Definition at line 198 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

HwIfaceAdapter joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::hw_iface_adapter_

protected

Adapts desired trajectory state to HW interface.

Definition at line 186 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

std::vector<std::string> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::joint_names_

protected

Controlled joint names.

Definition at line 184 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

std::vector<JointHandle> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::joints_

protected

Handles to controlled joints.

Definition at line 182 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ros::Time joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::last_state_publish_time_

protected

Definition at line 223 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

std::string joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::name_

protected

Controller name.

Definition at line 181 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ros::ServiceServer joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::query_state_service_

protected

Definition at line 219 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

RealtimeGoalHandlePtr joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::rt_active_goal_

protected

Currently active action goal, if any.

Definition at line 188 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

Segment::State joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::state_error_

protected

Preallocated workspace variable.

Definition at line 202 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

Segment::State joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::state_joint_error_

protected

Preallocated workspace variable.

Definition at line 204 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

StatePublisherPtr joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::state_publisher_

protected

Definition at line 220 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ros::Duration joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::state_publisher_period_

protected

Definition at line 208 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

Segment::Time joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::stop_trajectory_duration_

protected

Duration for stop ramp. If zero, the controller stops at the actual position.

Definition at line 211 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

boost::dynamic_bitset joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::successful_joint_traj_

protected

Definition at line 212 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

realtime_tools::RealtimeBuffer<TimeData> joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::time_data_

protected

Definition at line 206 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

ros::Subscriber joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::trajectory_command_sub_

protected

Definition at line 217 of file joint_trajectory_controller.h.

template<class SegmentImpl , class HardwareInterface >

bool joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >::verbose_

protected

Hard coded verbose flag to help in debugging.

Definition at line 180 of file joint_trajectory_controller.h.

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

Classes

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

template<class SegmentImpl, class HardwareInterface> class joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class SegmentImpl, class HardwareInterface>
class joint_trajectory_controller::JointTrajectoryController< SegmentImpl, HardwareInterface >