#include <katana_gripper_joint_trajectory_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperJointTrajectoryController:

Public Member Functions
void	cancelGoal ()

void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)

GRKAPoint	getNextDesiredPoint (ros::Time time)

bool	hasActiveGoal () const

	KatanaGripperJointTrajectoryController (ros::NodeHandle pn)

void	setCurrentPoint (GRKAPoint point)

virtual	~KatanaGripperJointTrajectoryController ()

Public Member Functions inherited from katana_gazebo_plugins::IGazeboRosKatanaGripperAction
virtual void	setCurrentPoint (double pos, double vel)

virtual	~IGazeboRosKatanaGripperAction ()

Private Types
typedef JTAS::GoalHandle	GoalHandle

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

Private Member Functions
void	cancelCB (GoalHandle gh)

void	checkGoalStatus ()

bool	currentIsDesiredAngle ()

void	goalCB (GoalHandle gh)

bool	isTrajectoryFinished ()

void	setCurrentTrajectory (trajectory_msgs::JointTrajectory traj)

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_

GRKAPoint	current_point_

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_

GRKAPoint	last_desired_point_

double	stopped_velocity_tolerance_

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

bool	trajectory_finished_

Detailed Description

This class allows you to send JointTrajectory messages to the Katana Arm simulated in Gazebo

Definition at line 51 of file katana_gripper_joint_trajectory_controller.h.

Member Typedef Documentation

typedef JTAS::GoalHandle katana_gazebo_plugins::KatanaGripperJointTrajectoryController::GoalHandle

private

Definition at line 56 of file katana_gripper_joint_trajectory_controller.h.

typedef actionlib::ActionServer<control_msgs::JointTrajectoryAction> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::JTAS

private

Definition at line 55 of file katana_gripper_joint_trajectory_controller.h.

Constructor & Destructor Documentation

katana_gazebo_plugins::KatanaGripperJointTrajectoryController::KatanaGripperJointTrajectoryController ( ros::NodeHandle pn )

Definition at line 34 of file katana_gripper_joint_trajectory_controller.cpp.

katana_gazebo_plugins::KatanaGripperJointTrajectoryController::~KatanaGripperJointTrajectoryController ( )

virtual

Definition at line 72 of file katana_gripper_joint_trajectory_controller.cpp.

Member Function Documentation

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::cancelCB ( GoalHandle gh )

private

Definition at line 201 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::cancelGoal ( )

inlinevirtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 105 of file katana_gripper_joint_trajectory_controller.h.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::checkGoalStatus ( )

private

Definition at line 97 of file katana_gripper_joint_trajectory_controller.cpp.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::currentIsDesiredAngle ( )

private

Definition at line 149 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)

virtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 335 of file katana_gripper_joint_trajectory_controller.cpp.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::getNextDesiredPoint ( ros::Time time )

virtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 234 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goalCB ( GoalHandle gh )

private

Definition at line 162 of file katana_gripper_joint_trajectory_controller.cpp.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::hasActiveGoal ( ) const

inlinevirtual

are there any more points?

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 113 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::isTrajectoryFinished ( )

private

Definition at line 329 of file katana_gripper_joint_trajectory_controller.cpp.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setCurrentPoint ( GRKAPoint point )

inlinevirtual

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 99 of file katana_gripper_joint_trajectory_controller.h.

void katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setCurrentTrajectory ( trajectory_msgs::JointTrajectory traj )

private

Definition at line 214 of file katana_gripper_joint_trajectory_controller.cpp.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::setsEqual	(	const std::vector< std::string > &	a,
		const std::vector< std::string > &	b
	)

staticprivate

Definition at line 77 of file katana_gripper_joint_trajectory_controller.cpp.

Member Data Documentation

JTAS* katana_gazebo_plugins::KatanaGripperJointTrajectoryController::action_server_

private

Definition at line 65 of file katana_gripper_joint_trajectory_controller.h.

GoalHandle katana_gazebo_plugins::KatanaGripperJointTrajectoryController::active_goal_

private

Definition at line 68 of file katana_gripper_joint_trajectory_controller.h.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::current_point_

private

Definition at line 73 of file katana_gripper_joint_trajectory_controller.h.

trajectory_msgs::JointTrajectory katana_gazebo_plugins::KatanaGripperJointTrajectoryController::current_traj_

private

Definition at line 69 of file katana_gripper_joint_trajectory_controller.h.

std::map<std::string, double> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goal_constraints_

private

Definition at line 77 of file katana_gripper_joint_trajectory_controller.h.

double katana_gazebo_plugins::KatanaGripperJointTrajectoryController::goal_time_constraint_

private

Definition at line 79 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::has_active_goal_

private

Definition at line 67 of file katana_gripper_joint_trajectory_controller.h.

std::vector<std::string> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::joint_names_

private

Definition at line 76 of file katana_gripper_joint_trajectory_controller.h.

GRKAPoint katana_gazebo_plugins::KatanaGripperJointTrajectoryController::last_desired_point_

private

Definition at line 74 of file katana_gripper_joint_trajectory_controller.h.

double katana_gazebo_plugins::KatanaGripperJointTrajectoryController::stopped_velocity_tolerance_

private

Definition at line 80 of file katana_gripper_joint_trajectory_controller.h.

std::map<std::string, double> katana_gazebo_plugins::KatanaGripperJointTrajectoryController::trajectory_constraints_

private

Definition at line 78 of file katana_gripper_joint_trajectory_controller.h.

bool katana_gazebo_plugins::KatanaGripperJointTrajectoryController::trajectory_finished_

private

Definition at line 70 of file katana_gripper_joint_trajectory_controller.h.

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

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation