#include <joint_trajectory_action_controller.h>

Public Member Functions
	JointTrajectoryActionController (boost::shared_ptr< AbstractKatana > katana)

void	reset_trajectory_and_stop ()

void	update ()

virtual	~JointTrajectoryActionController ()

Private Types
enum	{ PREEMPT_REQUESTED = -1000 }

typedef actionlib::SimpleActionServer< control_msgs::FollowJointTrajectoryAction >	FJTAS

typedef actionlib::SimpleActionClient< control_msgs::JointTrajectoryAction >	JTAC

typedef actionlib::SimpleActionServer< control_msgs::JointTrajectoryAction >	JTAS

Private Member Functions
bool	allJointsStopped ()

boost::shared_ptr< SpecifiedTrajectory >	calculateTrajectory (const trajectory_msgs::JointTrajectory &msg)

void	commandCB (const trajectory_msgs::JointTrajectory::ConstPtr &msg)

void	executeCB (const JTAS::GoalConstPtr &goal)

void	executeCBFollow (const FJTAS::GoalConstPtr &goal)

int	executeCommon (const trajectory_msgs::JointTrajectory &trajectory, boost::function< bool()> isPreemptRequested)

bool	goalReached ()

std::vector< int >	makeJointsLookup (const trajectory_msgs::JointTrajectory &msg)

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

bool	validJoints (std::vector< std::string > new_joint_names)

bool	validTrajectory (const SpecifiedTrajectory &traj)

Private Attributes
JTAS	action_server_

FJTAS	action_server_follow_

ros::Publisher	controller_state_publisher_

boost::shared_ptr< SpecifiedTrajectory >	current_trajectory_

std::vector< double >	goal_constraints_

std::vector< std::string >	joints_

boost::shared_ptr< AbstractKatana >	katana_

ros::ServiceServer	serve_query_state_

double	stopped_velocity_tolerance_

ros::Subscriber	sub_command_

Detailed Description

Definition at line 49 of file joint_trajectory_action_controller.h.

Member Typedef Documentation

typedef actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> katana::JointTrajectoryActionController::FJTAS

private

Definition at line 57 of file joint_trajectory_action_controller.h.

typedef actionlib::SimpleActionClient<control_msgs::JointTrajectoryAction> katana::JointTrajectoryActionController::JTAC

private

Definition at line 54 of file joint_trajectory_action_controller.h.

typedef actionlib::SimpleActionServer<control_msgs::JointTrajectoryAction> katana::JointTrajectoryActionController::JTAS

private

Definition at line 53 of file joint_trajectory_action_controller.h.

Member Enumeration Documentation

anonymous enum

private

Enumerator
PREEMPT_REQUESTED

Definition at line 68 of file joint_trajectory_action_controller.h.

Constructor & Destructor Documentation

katana::JointTrajectoryActionController::JointTrajectoryActionController ( boost::shared_ptr< AbstractKatana > katana )

Definition at line 36 of file joint_trajectory_action_controller.cpp.

katana::JointTrajectoryActionController::~JointTrajectoryActionController ( )

virtual

Definition at line 71 of file joint_trajectory_action_controller.cpp.

Member Function Documentation

bool katana::JointTrajectoryActionController::allJointsStopped ( )

private

Checks that all joint velocities are zero.

Definition at line 610 of file joint_trajectory_action_controller.cpp.

boost::shared_ptr< SpecifiedTrajectory > katana::JointTrajectoryActionController::calculateTrajectory ( const trajectory_msgs::JointTrajectory & msg )

private

Definition at line 207 of file joint_trajectory_action_controller.cpp.

void katana::JointTrajectoryActionController::commandCB ( const trajectory_msgs::JointTrajectory::ConstPtr & msg )

private

Callback for the "command" topic. There are two ways of sending a trajectory:

by publishing a message to the "command" topic (this is what happens here)
by using the action server (see executeCB)

Definition at line 191 of file joint_trajectory_action_controller.cpp.

void katana::JointTrajectoryActionController::executeCB ( const JTAS::GoalConstPtr & goal )

private

Definition at line 422 of file joint_trajectory_action_controller.cpp.

void katana::JointTrajectoryActionController::executeCBFollow ( const FJTAS::GoalConstPtr & goal )

private

Definition at line 445 of file joint_trajectory_action_controller.cpp.

int katana::JointTrajectoryActionController::executeCommon	(	const trajectory_msgs::JointTrajectory &	trajectory,
		boost::function< bool()>	isPreemptRequested
	)

private

Returns: either one of control_msgs::FollowJointTrajectoryResult, or PREEMPT_REQUESTED

Definition at line 471 of file joint_trajectory_action_controller.cpp.

bool katana::JointTrajectoryActionController::goalReached ( )

private

Checks that we have ended inside the goal constraints.

Definition at line 591 of file joint_trajectory_action_controller.cpp.

std::vector< int > katana::JointTrajectoryActionController::makeJointsLookup ( const trajectory_msgs::JointTrajectory & msg )

private

Definition at line 621 of file joint_trajectory_action_controller.cpp.

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