moveit_jog_arm::JogInterfaceBase Class Reference

#include <jog_interface_base.h>

Inheritance diagram for moveit_jog_arm::JogInterfaceBase:

Public Member Functions
bool	changeControlDimensions (moveit_msgs::ChangeControlDimensions::Request &req, moveit_msgs::ChangeControlDimensions::Response &res)
	Start the main calculation thread. More...
bool	changeDriftDimensions (moveit_msgs::ChangeDriftDimensions::Request &req, moveit_msgs::ChangeDriftDimensions::Response &res)
	JogInterfaceBase ()
void	jointsCB (const sensor_msgs::JointStateConstPtr &msg)
	Update the joints of the robot. More...
bool	startCollisionCheckThread ()
	Start collision checking. More...
bool	startJogCalcThread ()
bool	stopCollisionCheckThread ()
	Stop collision checking. More...
bool	stopJogCalcThread ()
	Stop the main calculation thread. More...

Protected Member Functions
bool	readParameters (ros::NodeHandle &n)

Protected Attributes
std::unique_ptr< std::thread >	collision_check_thread_
std::unique_ptr< CollisionCheckThread >	collision_checker_
std::unique_ptr< std::thread >	jog_calc_thread_
std::unique_ptr< JogCalcs >	jog_calcs_
planning_scene_monitor::PlanningSceneMonitorPtr	planning_scene_monitor_
JogArmParameters	ros_parameters_
JogArmShared	shared_variables_

Detailed Description

Class JogInterfaceBase - Base class for C++ interface and ROS node. Handles ROS subs & pubs and creates the worker threads.

Definition at line 57 of file jog_interface_base.h.

Constructor & Destructor Documentation

JogInterfaceBase()

moveit_jog_arm::JogInterfaceBase::JogInterfaceBase

(

)

Definition at line 46 of file jog_interface_base.cpp.

Member Function Documentation

changeControlDimensions()

bool moveit_jog_arm::JogInterfaceBase::changeControlDimensions	(	moveit_msgs::ChangeControlDimensions::Request &	req,
		moveit_msgs::ChangeControlDimensions::Response &	res
	)

Start the main calculation thread.

Definition at line 264 of file jog_interface_base.cpp.

changeDriftDimensions()

bool moveit_jog_arm::JogInterfaceBase::changeDriftDimensions	(	moveit_msgs::ChangeDriftDimensions::Request &	req,
		moveit_msgs::ChangeDriftDimensions::Response &	res
	)

Allow drift in certain dimensions. For example, may allow the wrist to rotate freely. This can help avoid singularities.

Parameters

request	the service request
response	the service response

Returns

true if the adjustment was made

Definition at line 249 of file jog_interface_base.cpp.

jointsCB()

void moveit_jog_arm::JogInterfaceBase::jointsCB

(

const sensor_msgs::JointStateConstPtr &

msg

)

Update the joints of the robot.

Definition at line 242 of file jog_interface_base.cpp.

readParameters()

bool moveit_jog_arm::JogInterfaceBase::readParameters ( ros::NodeHandle &  n )

protected

Definition at line 51 of file jog_interface_base.cpp.

startCollisionCheckThread()

bool moveit_jog_arm::JogInterfaceBase::startCollisionCheckThread

(

)

Start collision checking.

Definition at line 303 of file jog_interface_base.cpp.

startJogCalcThread()

bool moveit_jog_arm::JogInterfaceBase::startJogCalcThread

(

)

Definition at line 279 of file jog_interface_base.cpp.

stopCollisionCheckThread()

bool moveit_jog_arm::JogInterfaceBase::stopCollisionCheckThread

(

)

Stop collision checking.

Definition at line 313 of file jog_interface_base.cpp.

stopJogCalcThread()

bool moveit_jog_arm::JogInterfaceBase::stopJogCalcThread

(

)

Stop the main calculation thread.

Definition at line 289 of file jog_interface_base.cpp.

Member Data Documentation

collision_check_thread_

std::unique_ptr<std::thread> moveit_jog_arm::JogInterfaceBase::collision_check_thread_

protected

Definition at line 111 of file jog_interface_base.h.

collision_checker_

std::unique_ptr<CollisionCheckThread> moveit_jog_arm::JogInterfaceBase::collision_checker_

protected

Definition at line 110 of file jog_interface_base.h.

jog_calc_thread_

std::unique_ptr<std::thread> moveit_jog_arm::JogInterfaceBase::jog_calc_thread_

protected

Definition at line 107 of file jog_interface_base.h.

jog_calcs_

std::unique_ptr<JogCalcs> moveit_jog_arm::JogInterfaceBase::jog_calcs_

protected

Definition at line 106 of file jog_interface_base.h.

planning_scene_monitor_

planning_scene_monitor::PlanningSceneMonitorPtr moveit_jog_arm::JogInterfaceBase::planning_scene_monitor_

protected

Definition at line 97 of file jog_interface_base.h.

ros_parameters_

JogArmParameters moveit_jog_arm::JogInterfaceBase::ros_parameters_

protected

Definition at line 100 of file jog_interface_base.h.

shared_variables_

JogArmShared moveit_jog_arm::JogInterfaceBase::shared_variables_

protected

Definition at line 103 of file jog_interface_base.h.

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

• jog_interface_base.h
• jog_interface_base.cpp