katana_gripper_joint_trajectory_controller.h File Reference

#include <ros/ros.h>
#include <actionlib/server/action_server.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <control_msgs/JointTrajectoryAction.h>
#include <control_msgs/JointTrajectoryControllerState.h>
#include <katana_gazebo_plugins/gazebo_ros_katana_gripper_action_interface.h>

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Classes
class	katana_gazebo_plugins::KatanaGripperJointTrajectoryController

Namespaces
	katana_gazebo_plugins
	spline_smoother

Functions
static void	spline_smoother::generatePowers (int n, double x, double *powers)
void	spline_smoother::getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
	Calculates cubic spline coefficients given the start and end way-points. More...
void	spline_smoother::sampleCubicSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a cubic spline segment at a particular time. More...

Variables
static const double	katana_gazebo_plugins::GRIPPER_ANGLE_THRESHOLD = 0.005