cartesian_pose_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
cartesian__pose__controller_8cpp
robot_mechanism_controllers/cartesian_pose_controller.h
controller
cartesian_pose_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
cartesian__pose__controller_8h
controller::CartesianPoseController
controller
cartesian_twist_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
cartesian__twist__controller_8cpp
robot_mechanism_controllers/cartesian_twist_controller.h
controller
cartesian_twist_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
cartesian__twist__controller_8h
controller::CartesianTwistController
controller
cartesian_wrench_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
cartesian__wrench__controller_8cpp
robot_mechanism_controllers/cartesian_wrench_controller.h
controller
cartesian_wrench_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
cartesian__wrench__controller_8h
controller::CartesianWrenchController
controller
doc.dox
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/
doc_8dox
effort.py
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/scripts/
effort_8py
effort
def
load_joint_config
namespaceeffort.html
ad2ddf33c54c033edd99f056f49b300b6
(joint_name)
def
main
namespaceeffort.html
a0506f5890e06457dd2e39e255ffc64a3
()
def
shutdown
namespaceeffort.html
a09d65167961a895cffa872e7794e0a03
(sig, stackframe)
string
CONTROLLER_NAME
namespaceeffort.html
a64f80b83fbdd608699fd3505441d5d30
prev_handler
namespaceeffort.html
ad0195705c871093c1570b05dff2f87dc
joint_effort_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
joint__effort__controller_8cpp
robot_mechanism_controllers/joint_effort_controller.h
controller
joint_effort_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
joint__effort__controller_8h
controller::JointEffortController
controller
joint_group_velocity_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
joint__group__velocity__controller_8cpp
robot_mechanism_controllers/joint_group_velocity_controller.h
controller
joint_group_velocity_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
joint__group__velocity__controller_8h
controller::JointGroupVelocityController
controller
joint_position_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
joint__position__controller_8cpp
robot_mechanism_controllers/joint_position_controller.h
controller
joint_position_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
joint__position__controller_8h
controller::JointPositionController
controller
joint_spline_trajectory_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
joint__spline__trajectory__controller_8cpp
robot_mechanism_controllers/joint_spline_trajectory_controller.h
controller
static void
generatePowers
namespacecontroller.html
a857d0410108b09aed665de938baa2dbf
(int n, double x, double *powers)
static void
getCubicSplineCoefficients
namespacecontroller.html
a1fb53e28a1d1a60ec6d94892f86c01dc
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void
getQuinticSplineCoefficients
namespacecontroller.html
ab112e36b286d992b6c14ae9b646f7a86
(double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void
sampleQuinticSpline
namespacecontroller.html
ab5ebd7b0d1c87475b10cbd3c0edf115a
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
joint_spline_trajectory_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
joint__spline__trajectory__controller_8h
controller::JointSplineTrajectoryController
controller::JointSplineTrajectoryController::Segment
controller::JointSplineTrajectoryController::Spline
controller
joint_trajectory_action_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
joint__trajectory__action__controller_8cpp
robot_mechanism_controllers/joint_trajectory_action_controller.h
controller
static void
generatePowers
namespacecontroller.html
a857d0410108b09aed665de938baa2dbf
(int n, double x, double *powers)
static void
getCubicSplineCoefficients
namespacecontroller.html
a1fb53e28a1d1a60ec6d94892f86c01dc
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void
getQuinticSplineCoefficients
namespacecontroller.html
ab112e36b286d992b6c14ae9b646f7a86
(double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void
sampleQuinticSpline
namespacecontroller.html
ab5ebd7b0d1c87475b10cbd3c0edf115a
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
static bool
setsEqual
namespacecontroller.html
ad368bf1ebd08a6a0f2284166d5761bb6
(const std::vector< std::string > &a, const std::vector< std::string > &b)
static boost::shared_ptr< Member >
share_member
namespacecontroller.html
a7976137a44d7ebf492e5251fc2c74d6c
(boost::shared_ptr< Enclosure > enclosure, Member &member)
joint_trajectory_action_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
joint__trajectory__action__controller_8h
controller::JointTolerance
controller::JointTrajectoryActionController
controller::RTServerGoalHandle
controller::JointTrajectoryActionController::Segment
controller::JointTrajectoryActionController::Spline
controller
joint_velocity_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
joint__velocity__controller_8cpp
robot_mechanism_controllers/joint_velocity_controller.h
controller
joint_velocity_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
joint__velocity__controller_8h
controller::JointVelocityController
controller
jt_cartesian_controller.cpp
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/src/
jt__cartesian__controller_8cpp
robot_mechanism_controllers/jt_cartesian_controller.h
controller
static void
computePoseError
namespacecontroller.html
a1c6cb0f31edd0d535b924d3a15af2db2
(const Eigen::Affine3d &xact, const Eigen::Affine3d &xdes, Eigen::Matrix< double, 6, 1 > &err)
jt_cartesian_controller.h
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/
jt__cartesian__controller_8h
controller::JTCartesianController
controller::Kin
controller
posture.py
/tmp/ws/src/pr2_controllers/robot_mechanism_controllers/
posture_8py
posture
anonymous
namespaceposture.html
aef415094b11565702b0c3babfb86e9fa
controller
namespaceposture.html
ae6b02ddc69107494878ddb5e8078a759
disable_signals
namespaceposture.html
a9c3d085d5f40e99e70f36109dd689225
m
namespaceposture.html
a8e2e3d0721b04e87330b67a19cb929df
posture
namespaceposture.html
a53fed04d38dd762596cb4f178f03c592
dictionary
postures
namespaceposture.html
ac609b124bc707a7828de74e17411a51f
pub_posture
namespaceposture.html
abff5bdb48748bcef9e7e7428dea05577
True
namespaceposture.html
a1bcaf98fd15a97c663f17b939e66cf4e
controller::CartesianPoseController
classcontroller_1_1CartesianPoseController.html
pr2_controller_interface::Controller
CartesianPoseController
classcontroller_1_1CartesianPoseController.html
a487d94a05f4ab807eddb3e7c47016068
()
void
command
classcontroller_1_1CartesianPoseController.html
a4b31fefbd1752e6c37b5236e05f4b723
(const geometry_msgs::PoseStamped::ConstPtr &pose_msg)
bool
init
classcontroller_1_1CartesianPoseController.html
afd9e007389dc76417837d5731907fbc7
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void
starting
classcontroller_1_1CartesianPoseController.html
a6ef19a969604d7f5e0c5362d42b408ae
()
void
update
classcontroller_1_1CartesianPoseController.html
af5a460958d9b0a7ccbc9bc886ee53205
()
~CartesianPoseController
classcontroller_1_1CartesianPoseController.html
abdffa2f7224780bc9ed655da3695cc5d
()
KDL::Frame
pose_desi_
classcontroller_1_1CartesianPoseController.html
ac1938d3f9d0a0db3d772a7a2522085f6
KDL::Frame
pose_meas_
classcontroller_1_1CartesianPoseController.html
acaab6751ca6b11d42b0cce449725eb8a
KDL::Twist
twist_error_
classcontroller_1_1CartesianPoseController.html
a06bfb90cb88c6f047f462898aee86457
KDL::Twist
twist_ff_
classcontroller_1_1CartesianPoseController.html
ad633806934c62978b0149550950a9755
KDL::Frame
getPose
classcontroller_1_1CartesianPoseController.html
a8bc90fdf3adcd36cee1759868103bdbd
()
pr2_mechanism_model::Chain
chain_
classcontroller_1_1CartesianPoseController.html
ac9891bf2828013c43214af61c782c0fe
boost::scoped_ptr< tf::MessageFilter< geometry_msgs::PoseStamped > >
command_filter_
classcontroller_1_1CartesianPoseController.html
a6d0c28848b6b02fa66cc40c35b3fb642
std::string
controller_name_
classcontroller_1_1CartesianPoseController.html
a27181dd55a2d574bb8f55be1cb6ea559
boost::scoped_ptr< KDL::ChainJntToJacSolver >
jac_solver_
classcontroller_1_1CartesianPoseController.html
a8c22a8b970a5545502acd05625e2a218
KDL::Jacobian
jacobian_
classcontroller_1_1CartesianPoseController.html
a37ada6a1cec145975b9a3f382395e4a6
KDL::JntArray
jnt_eff_
classcontroller_1_1CartesianPoseController.html
adedaca328c826b45b15154a0b91b9da1
KDL::JntArray
jnt_pos_
classcontroller_1_1CartesianPoseController.html
aead22ca06a440c40e8df1f31d0b695af
boost::scoped_ptr< KDL::ChainFkSolverPos >
jnt_to_pose_solver_
classcontroller_1_1CartesianPoseController.html
a0b7b1b50d777e41059a0d86f2b8c4a61
KDL::Chain
kdl_chain_
classcontroller_1_1CartesianPoseController.html
aad17c390126fa50584d1e12b33c14d2b
ros::Time
last_time_
classcontroller_1_1CartesianPoseController.html
a013e556913d6f7e5851286c7900f29ee
unsigned int
loop_count_
classcontroller_1_1CartesianPoseController.html
ada3b4b3a7234969805f842b878d7019c
ros::NodeHandle
node_
classcontroller_1_1CartesianPoseController.html
a54c6377385dc29d90c84fd18353d671b
std::vector< control_toolbox::Pid >
pid_controller_
classcontroller_1_1CartesianPoseController.html
a11d4036839e0522fd4f15a34c5b7fed1
pr2_mechanism_model::RobotState *
robot_state_
classcontroller_1_1CartesianPoseController.html
a2aa9641241a839ff472a61b3a4c357fd
std::string
root_name_
classcontroller_1_1CartesianPoseController.html
a65d025eec30795ecf72a16f827cf27ee
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::Twist > >
state_error_publisher_
classcontroller_1_1CartesianPoseController.html
aeafa852532713e215022d2778fe0eb5b
boost::scoped_ptr< realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped > >
state_pose_publisher_
classcontroller_1_1CartesianPoseController.html
a0ae34e64d307eb2ed69cee437dc8f91e
message_filters::Subscriber< geometry_msgs::PoseStamped >
sub_command_
classcontroller_1_1CartesianPoseController.html
a9fccc4d808b75d79a8ca2de15ae2d4e1
tf::TransformListener
tf_
classcontroller_1_1CartesianPoseController.html
ad02cb1c6cbdf5c0957221dff4d12e9e0
pr2_controller_interface::CartesianPoseController
classpr2__controller__interface_1_1CartesianPoseController.html
controller::CartesianTwistController
classcontroller_1_1CartesianTwistController.html
pr2_controller_interface::Controller
CartesianTwistController
classcontroller_1_1CartesianTwistController.html
abdf57043454394ec79162431683208a7
()
bool
init
classcontroller_1_1CartesianTwistController.html
a1950b75e5c8d0fdf7ad88f47f8164a17
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void
starting
classcontroller_1_1CartesianTwistController.html
a24903c2f12c53e0dae1938f02366ee34
()
void
update
classcontroller_1_1CartesianTwistController.html
a915eb0e7cc4482b8aef46ad709094f5d
()
~CartesianTwistController
classcontroller_1_1CartesianTwistController.html
a5c00947a092f4bacd95047a3e7fc853d
()
KDL::Twist
twist_desi_
classcontroller_1_1CartesianTwistController.html
a1c100183557cab2e3c9da5083a00eee4
KDL::Twist
twist_meas_
classcontroller_1_1CartesianTwistController.html
a5223e15a5d287d2c92f87c1ce16068b2
void
command
classcontroller_1_1CartesianTwistController.html
a5a99ad4ebcc05e23315a2e3dc691faa5
(const geometry_msgs::TwistConstPtr &twist_msg)
pr2_mechanism_model::Chain
chain_
classcontroller_1_1CartesianTwistController.html
a3847e6787a6574463881be29990a1fa3
std::vector< control_toolbox::Pid >
fb_pid_controller_
classcontroller_1_1CartesianTwistController.html
a603acc5c081cd5bd518f0b219b6b19a9
double
ff_rot_
classcontroller_1_1CartesianTwistController.html
a773533822abd935d57cb0b3f98799ede
double
ff_trans_
classcontroller_1_1CartesianTwistController.html
af3fd43368ada385176f5b1e4af530293
boost::scoped_ptr< KDL::ChainJntToJacSolver >
jac_solver_
classcontroller_1_1CartesianTwistController.html
a7e8559976f1eca09a72c9b946f59016d
KDL::Jacobian
jacobian_
classcontroller_1_1CartesianTwistController.html
a608740ec672527ad8af39def26ca8b2d
KDL::JntArray
jnt_eff_
classcontroller_1_1CartesianTwistController.html
a257038fa88bc1d7057cf4624dc511433
KDL::JntArrayVel
jnt_posvel_
classcontroller_1_1CartesianTwistController.html
a0a1794d9aa6c22d542dc45634f5fff1b
boost::scoped_ptr< KDL::ChainFkSolverVel >
jnt_to_twist_solver_
classcontroller_1_1CartesianTwistController.html
a3a42e242cedb1ff4f95592e4c78e77d1
KDL::Chain
kdl_chain_
classcontroller_1_1CartesianTwistController.html
abb2f0105f1ecabaaccbb8e8717584fcc
ros::Time
last_time_
classcontroller_1_1CartesianTwistController.html
a2c9382e3c25a95a833f80735e7c8459f
ros::NodeHandle
node_
classcontroller_1_1CartesianTwistController.html
a010fb8a12e5dac0a912977bac36ba2a5
pr2_mechanism_model::RobotState *
robot_state_
classcontroller_1_1CartesianTwistController.html
a30e624ec1d32d553ba018a589fddfeab
ros::Subscriber
sub_command_
classcontroller_1_1CartesianTwistController.html
a763629b9ac3b5c89d73504e013b98472
geometry_msgs::Twist
twist_msg_
classcontroller_1_1CartesianTwistController.html
a5f7768d8f0bc2c8336611ae0b9c65b3d
KDL::Wrench
wrench_out_
classcontroller_1_1CartesianTwistController.html
a71f2d6a65cc0e157a13e48c718e784c9
pr2_controller_interface::CartesianTwistController
classpr2__controller__interface_1_1CartesianTwistController.html
controller::CartesianWrenchController
classcontroller_1_1CartesianWrenchController.html
pr2_controller_interface::Controller
CartesianWrenchController
classcontroller_1_1CartesianWrenchController.html
ac17a3f2cd3ea8281aca89d7b4c5a9ad2
()
bool
init
classcontroller_1_1CartesianWrenchController.html
a7fbd5ae149af9e5e2dd5137f234894fe
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
void
starting
classcontroller_1_1CartesianWrenchController.html
a1726ef1e5e9ed8ffaac705148aa8fb00
()
void
update
classcontroller_1_1CartesianWrenchController.html
a19aa50599187bc8fe6a4e9724c981d3f
()
~CartesianWrenchController
classcontroller_1_1CartesianWrenchController.html
a93e261d0202a69946a1db744ba429103
()
KDL::Wrench
wrench_desi_
classcontroller_1_1CartesianWrenchController.html
acfd20d5ceb845c680f72319a8db26260
void
command
classcontroller_1_1CartesianWrenchController.html
ae2174c5468471ee88119415d3fb73c22
(const geometry_msgs::WrenchConstPtr &wrench_msg)
pr2_mechanism_model::Chain
chain_
classcontroller_1_1CartesianWrenchController.html
a88d18e1602d1a62bd7c374cbe3295ae5
KDL::Jacobian
jacobian_
classcontroller_1_1CartesianWrenchController.html
ab7db97d20edf2e7f02ddc9234bfda953
KDL::JntArray
jnt_eff_
classcontroller_1_1CartesianWrenchController.html
abe9b3ea791666399f8872a9e3ec1acdd
KDL::JntArray
jnt_pos_
classcontroller_1_1CartesianWrenchController.html
a1deeb91dd0d533a7ca305e5e66cffbf5
boost::scoped_ptr< KDL::ChainJntToJacSolver >
jnt_to_jac_solver_
classcontroller_1_1CartesianWrenchController.html
af52f618344c3186fe4f86aaf15e86724
KDL::Chain
kdl_chain_
classcontroller_1_1CartesianWrenchController.html
ab303d456df7de463617df3bfed7110ee
ros::NodeHandle
node_
classcontroller_1_1CartesianWrenchController.html
a6b8f969fca15e0290689b4e491566c55
pr2_mechanism_model::RobotState *
robot_state_
classcontroller_1_1CartesianWrenchController.html
af79f707f3597a7aab30fb613533dbcb8
ros::Subscriber
sub_command_
classcontroller_1_1CartesianWrenchController.html
ad36f54dd2c7042c04c0efd5d5f7c3a15
pr2_controller_interface::CartesianWrenchController
classpr2__controller__interface_1_1CartesianWrenchController.html
controller::JointEffortController
classcontroller_1_1JointEffortController.html
pr2_controller_interface::Controller
bool
init
classcontroller_1_1JointEffortController.html
a02add1d158352f765f285fcfc356685a
(pr2_mechanism_model::RobotState *robot, const std::string &joint_name)
virtual bool
init
classcontroller_1_1JointEffortController.html
ae38f5c17866cdfa73f5e2d7d5db2ab27
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JointEffortController
classcontroller_1_1JointEffortController.html
abde0ee3240aa1d9f8973537325e11a8c
()
virtual void
starting
classcontroller_1_1JointEffortController.html
a25a5d04ce735f242fad641449a369845
()
virtual void
update
classcontroller_1_1JointEffortController.html
aec7360117e23758abc252fb79a39e7ee
()
~JointEffortController
classcontroller_1_1JointEffortController.html
a039280e3b6b0bf3ffb62438166bef250
()
double
command_
classcontroller_1_1JointEffortController.html
a64dd2bf4ee1fa1fa861462038aa4bc36
pr2_mechanism_model::JointState *
joint_state_
classcontroller_1_1JointEffortController.html
a6303ebe5b4bef8826bc93be16c287eb8
void
commandCB
classcontroller_1_1JointEffortController.html
a82d36d652a65a8ada20034ca48038b1a
(const std_msgs::Float64ConstPtr &msg)
ros::NodeHandle
node_
classcontroller_1_1JointEffortController.html
ae31481c3958bf9e6f64e742012a92aee
pr2_mechanism_model::RobotState *
robot_
classcontroller_1_1JointEffortController.html
a05fa3c7588c8331a7660eda798284540
ros::Subscriber
sub_command_
classcontroller_1_1JointEffortController.html
a031a7ac36fcdf748ab4173a68129df94
pr2_controller_interface::JointEffortController
classpr2__controller__interface_1_1JointEffortController.html
pr2_controller_interface::JointGroupVelocityController
classpr2__controller__interface_1_1JointGroupVelocityController.html
controller::JointGroupVelocityController
classcontroller_1_1JointGroupVelocityController.html
pr2_controller_interface::Controller
void
getCommand
classcontroller_1_1JointGroupVelocityController.html
a24c0fb9143d81e3fdc75e7185a3bb42a
(std::vector< double > &cmd)
void
getGains
classcontroller_1_1JointGroupVelocityController.html
a7bc76aaf8c65171f59ca2aa4ba7d9f63
(control_toolbox::Pid &pid, double &p, double &i, double &d, double &i_max, double &i_min)
std::vector< std::string >
getJointName
classcontroller_1_1JointGroupVelocityController.html
a6e9406f4747e549c2a7174922bcc61a1
()
bool
init
classcontroller_1_1JointGroupVelocityController.html
a9b9ac2bee2ef7e0001408bfdf8c167d3
(pr2_mechanism_model::RobotState *robot, const std::vector< std::string > &joint_names, const control_toolbox::Pid &pid)
bool
init
classcontroller_1_1JointGroupVelocityController.html
a76f4b5ec8efaa86a97313a581408247e
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JointGroupVelocityController
classcontroller_1_1JointGroupVelocityController.html
a07aecf0623b0c8ef0798b8f04e809bba
()
void
setCommand
classcontroller_1_1JointGroupVelocityController.html
a1fb12b7b5af9931b19b65a415094cb8a
(std::vector< double > cmd)
virtual void
starting
classcontroller_1_1JointGroupVelocityController.html
a11d9809ce725796b714f8da5bbf73713
()
virtual void
update
classcontroller_1_1JointGroupVelocityController.html
aa52acfbd36348cfac69f68029f102216
()
~JointGroupVelocityController
classcontroller_1_1JointGroupVelocityController.html
a734879e0388e791b10a7699afe7fd71c
()
unsigned int
n_joints_
classcontroller_1_1JointGroupVelocityController.html
a998c59db9482a15c9af38c2aca4b72cf
void
setCommandCB
classcontroller_1_1JointGroupVelocityController.html
a92a18afb47a2b873d8e7ca5f012a110f
(const std_msgs::Float64MultiArrayConstPtr &msg)
realtime_tools::RealtimeBuffer< std::vector< double > >
commands_buffer_
classcontroller_1_1JointGroupVelocityController.html
a092b0cec3bb6ca6d68249e51f0b36c3e
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerStateArray > >
controller_state_publisher_
classcontroller_1_1JointGroupVelocityController.html
a8e7f9dce6ee612b62328948d980b1497
std::vector< pr2_mechanism_model::JointState * >
joints_
classcontroller_1_1JointGroupVelocityController.html
a4b57ccf125098b922e290d4b23ddbe2e
ros::Time
last_time_
classcontroller_1_1JointGroupVelocityController.html
a2b250ecd84cb9a84e36a9ffd8c1e81b9
int
loop_count_
classcontroller_1_1JointGroupVelocityController.html
a1defc7c8c1680fd48ded06bf450b5e88
ros::NodeHandle
node_
classcontroller_1_1JointGroupVelocityController.html
af976425987659f0e2b6a7979c0ea69a3
std::vector< control_toolbox::Pid >
pid_controllers_
classcontroller_1_1JointGroupVelocityController.html
a4a86d0d42b95e0e946780395f3c9e273
pr2_mechanism_model::RobotState *
robot_
classcontroller_1_1JointGroupVelocityController.html
a99b3a7ec01fc2b6fbc0d130377396643
ros::Subscriber
sub_command_
classcontroller_1_1JointGroupVelocityController.html
ae05b724e1ece17c2b0b02605473a60bb
friend class
JointGroupVelocityControllerNode
classcontroller_1_1JointGroupVelocityController.html
ae7ecf3af4d83d14c9c0bd9ab1be26d6d
controller::JointPositionController
classcontroller_1_1JointPositionController.html
pr2_controller_interface::Controller
void
getCommand
classcontroller_1_1JointPositionController.html
aaf2792fd1748e332429755fe0dee6414
(double &cmd)
void
getGains
classcontroller_1_1JointPositionController.html
aaf3fc9a9f462d99166561f11594e2cca
(double &p, double &i, double &d, double &i_max, double &i_min)
std::string
getJointName
classcontroller_1_1JointPositionController.html
a46b1b6cc19c36b6c2d3840307be0fb65
()
bool
init
classcontroller_1_1JointPositionController.html
abe5f788a38a28e3a06baf97de914e967
(pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid)
bool
init
classcontroller_1_1JointPositionController.html
a221ae6524a38dfd5439d3b8bd64c4bbc
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JointPositionController
classcontroller_1_1JointPositionController.html
a0704c9346c88f716cca618d3bd7ad840
()
void
setCommand
classcontroller_1_1JointPositionController.html
a56717092699728e697b41d65a4ce8c4a
(double cmd)
void
setGains
classcontroller_1_1JointPositionController.html
aa44f6dadfe302a872e2dab9bf4746a65
(const double &p, const double &i, const double &d, const double &i_max, const double &i_min)
virtual void
starting
classcontroller_1_1JointPositionController.html
aaa59c5302942c7537c4af4501cace1a9
()
virtual void
update
classcontroller_1_1JointPositionController.html
a1cbfe5fffbca2d5eb040e42cc09c0f0a
()
~JointPositionController
classcontroller_1_1JointPositionController.html
ab0322c190083c91d0faa1ca25d9886bb
()
double
command_
classcontroller_1_1JointPositionController.html
a9c7a737f779a23ba6a82cd1cbe6631fa
ros::Duration
dt_
classcontroller_1_1JointPositionController.html
a5f5ce23e31682f9d70d38faa6dec7617
pr2_mechanism_model::JointState *
joint_state_
classcontroller_1_1JointPositionController.html
a1dc800bdbdf16f823176436a1bcb841b
void
setCommandCB
classcontroller_1_1JointPositionController.html
a9fbd772a8a1d4afcfad8f8c03caa08b4
(const std_msgs::Float64ConstPtr &msg)
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState > >
controller_state_publisher_
classcontroller_1_1JointPositionController.html
afd48d0da90d9c8311f58bd2310b44271
bool
initialized_
classcontroller_1_1JointPositionController.html
ab86a77b580a1932083626f8ac0a329ca
ros::Time
last_time_
classcontroller_1_1JointPositionController.html
a2964b70acbdd232e001aee44337e4e24
int
loop_count_
classcontroller_1_1JointPositionController.html
a9ee7e21363bf1a3953ccf4d7b73256d2
ros::NodeHandle
node_
classcontroller_1_1JointPositionController.html
ac9b055313454eccb7834e1c2bfbf1db0
control_toolbox::Pid
pid_controller_
classcontroller_1_1JointPositionController.html
ae44f1cb6b9c163493c2117092b9cd3ce
pr2_mechanism_model::RobotState *
robot_
classcontroller_1_1JointPositionController.html
a150e6270e3470cc10b26a93cc0c2229c
ros::Subscriber
sub_command_
classcontroller_1_1JointPositionController.html
afcb2d26bee9c99a4a81f6c4a8b312ccd
pr2_controller_interface::JointPositionController
classpr2__controller__interface_1_1JointPositionController.html
pr2_controller_interface::JointSplineTrajectoryController
classpr2__controller__interface_1_1JointSplineTrajectoryController.html
controller::JointSplineTrajectoryController
classcontroller_1_1JointSplineTrajectoryController.html
pr2_controller_interface::Controller
controller::JointSplineTrajectoryController::Segment
controller::JointSplineTrajectoryController::Spline
bool
init
classcontroller_1_1JointSplineTrajectoryController.html
a4d3d1fdf36d36b150b30b48c5c4a9f1f
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JointSplineTrajectoryController
classcontroller_1_1JointSplineTrajectoryController.html
add5bbb50ad51a34ce9e6f79601cf0fda
()
void
starting
classcontroller_1_1JointSplineTrajectoryController.html
a2a8267914755661119a26fb986dfa69a
()
void
update
classcontroller_1_1JointSplineTrajectoryController.html
a6e181a74282a9b61b7d4ed29e4b599be
()
~JointSplineTrajectoryController
classcontroller_1_1JointSplineTrajectoryController.html
ac448545d4cfc78da2ec69a79f2714ba6
()
std::vector< Segment >
SpecifiedTrajectory
classcontroller_1_1JointSplineTrajectoryController.html
a74e8416a054d9787893c38eba15c61f6
void
commandCB
classcontroller_1_1JointSplineTrajectoryController.html
a319042c22458f6560275230023dd961f
(const trajectory_msgs::JointTrajectoryConstPtr &msg)
bool
queryStateService
classcontroller_1_1JointSplineTrajectoryController.html
af692969bf38d5bce90cd3cdb609c6ddd
(pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)
static void
sampleSplineWithTimeBounds
classcontroller_1_1JointSplineTrajectoryController.html
a17da5dbcf196236b1249ca83405f78ae
(const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState > >
controller_state_publisher_
classcontroller_1_1JointSplineTrajectoryController.html
a74705df9ab4660e562a9c1979132019e
realtime_tools::RealtimeBox< boost::shared_ptr< const SpecifiedTrajectory > >
current_trajectory_box_
classcontroller_1_1JointSplineTrajectoryController.html
aee41ce84e0174e3065f775c72f9d6992
std::vector< pr2_mechanism_model::JointState * >
joints_
classcontroller_1_1JointSplineTrajectoryController.html
a5774a02de3cfb5052b3185ddd008b246
ros::Time
last_time_
classcontroller_1_1JointSplineTrajectoryController.html
aec0e4cd8b52751a6b4506ef868e3b85d
int
loop_count_
classcontroller_1_1JointSplineTrajectoryController.html
a11ff0d565899f8bdca0fc289a29bb439
ros::NodeHandle
node_
classcontroller_1_1JointSplineTrajectoryController.html
a45da2a388e780b1a5475e3cce66756ac
std::vector< control_toolbox::Pid >
pids_
classcontroller_1_1JointSplineTrajectoryController.html
acda142f9702675cd59bbf1d99df74eb3
std::vector< double >
q
classcontroller_1_1JointSplineTrajectoryController.html
a8bb9dc1df76efcc49f7d5ccf16df5571
std::vector< double >
qd
classcontroller_1_1JointSplineTrajectoryController.html
a5094b836b1ab5e7d42a26bddd8a0ebac
std::vector< double >
qdd
classcontroller_1_1JointSplineTrajectoryController.html
aa0ebf34c62000cb83ade602dc108ef6f
pr2_mechanism_model::RobotState *
robot_
classcontroller_1_1JointSplineTrajectoryController.html
a6ba3c9b8b84f7f7619e7e7acad92b017
ros::ServiceServer
serve_query_state_
classcontroller_1_1JointSplineTrajectoryController.html
a5d44be5bcff5a52ba73fb6dc6b2172a6
ros::Subscriber
sub_command_
classcontroller_1_1JointSplineTrajectoryController.html
a63840f36343957370da55c157b0fc60b
controller::JointTolerance
classcontroller_1_1JointTolerance.html
JointTolerance
classcontroller_1_1JointTolerance.html
a9610d768a386b8344d3eaf321981e168
(double _position=0, double _velocity=0, double _acceleration=0)
bool
violated
classcontroller_1_1JointTolerance.html
a7f27e378ea8b5653136c6db2fa624116
(double p_err, double v_err=0, double a_err=0) const
double
acceleration
classcontroller_1_1JointTolerance.html
a8438bf5fe748be5425015724a969c96b
double
position
classcontroller_1_1JointTolerance.html
a31cd55f79ed744fec10c117fe46486c9
double
velocity
classcontroller_1_1JointTolerance.html
a77544095add21e179d24ad051d6ade6f
controller::JointTrajectoryActionController
classcontroller_1_1JointTrajectoryActionController.html
pr2_controller_interface::Controller
controller::JointTrajectoryActionController::Segment
controller::JointTrajectoryActionController::Spline
bool
init
classcontroller_1_1JointTrajectoryActionController.html
adf6ae06f6062afd99c91485081a746cb
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JointTrajectoryActionController
classcontroller_1_1JointTrajectoryActionController.html
a7c9599803db44765d5f3f49b8859a852
()
void
starting
classcontroller_1_1JointTrajectoryActionController.html
a5805e98f215d64e4b727bcf58fd8deb5
()
void
update
classcontroller_1_1JointTrajectoryActionController.html
a02e726606fd8cb2852da80e2b9558384
()
~JointTrajectoryActionController
classcontroller_1_1JointTrajectoryActionController.html
a617c238bf68d94d1681a441d13321419
()
actionlib::ActionServer< control_msgs::FollowJointTrajectoryAction >
FJTAS
classcontroller_1_1JointTrajectoryActionController.html
a5bd6c4dab7546bef39c2ea7c2f651b7a
JTAS::GoalHandle
GoalHandle
classcontroller_1_1JointTrajectoryActionController.html
af75517ae170611edeaeb5f2568ed3d42
FJTAS::GoalHandle
GoalHandleFollow
classcontroller_1_1JointTrajectoryActionController.html
ad7f310e92d49c421dcc42dff30122787
actionlib::ActionServer< pr2_controllers_msgs::JointTrajectoryAction >
JTAS
classcontroller_1_1JointTrajectoryActionController.html
a5ccefe6b1d55d1a6702516a8d1ac4a32
RTServerGoalHandle< pr2_controllers_msgs::JointTrajectoryAction >
RTGoalHandle
classcontroller_1_1JointTrajectoryActionController.html
a00a187206c6edc80f54f749b9f7c84c2
RTServerGoalHandle< control_msgs::FollowJointTrajectoryAction >
RTGoalHandleFollow
classcontroller_1_1JointTrajectoryActionController.html
ad4df9859d75a8a460d52b09676da9e11
std::vector< Segment >
SpecifiedTrajectory
classcontroller_1_1JointTrajectoryActionController.html
a2b19e88ac24cbb5246eababc49978c2c
void
cancelCB
classcontroller_1_1JointTrajectoryActionController.html
ade21e5346860c47135bcda803048167b
(GoalHandle gh)
void
cancelCBFollow
classcontroller_1_1JointTrajectoryActionController.html
ab5eeb890f4f9a17deb353267c6258178
(GoalHandleFollow gh)
void
commandCB
classcontroller_1_1JointTrajectoryActionController.html
ad3b6f3e716343435800c35ec4d53e291
(const trajectory_msgs::JointTrajectory::ConstPtr &msg)
void
commandTrajectory
classcontroller_1_1JointTrajectoryActionController.html
a6c861db9be4db2904cfb238874a322f2
(const trajectory_msgs::JointTrajectory::ConstPtr &traj, boost::shared_ptr< RTGoalHandle > gh=boost::shared_ptr< RTGoalHandle >((RTGoalHandle *) NULL), boost::shared_ptr< RTGoalHandleFollow > gh_follow=boost::shared_ptr< RTGoalHandleFollow >((RTGoalHandleFollow *) NULL))
void
goalCB
classcontroller_1_1JointTrajectoryActionController.html
a61f9ae0f448a31ad2a51a56957722b00
(GoalHandle gh)
void
goalCBFollow
classcontroller_1_1JointTrajectoryActionController.html
aee7c8be49387c10c4262420ab443bf48
(GoalHandleFollow gh)
void
preemptActiveGoal
classcontroller_1_1JointTrajectoryActionController.html
a05e67458ce3d074abb63373d214b37fd
()
bool
queryStateService
classcontroller_1_1JointTrajectoryActionController.html
a06bddf2acecfca02bd85ddcf9496e638
(pr2_controllers_msgs::QueryTrajectoryState::Request &req, pr2_controllers_msgs::QueryTrajectoryState::Response &resp)
static void
sampleSplineWithTimeBounds
classcontroller_1_1JointTrajectoryActionController.html
ad81b9f6738629a0e8baddd5557f702d5
(const std::vector< double > &coefficients, double duration, double time, double &position, double &velocity, double &acceleration)
boost::scoped_ptr< JTAS >
action_server_
classcontroller_1_1JointTrajectoryActionController.html
ae37312bf8f1b527e8778fa308e0bde1e
boost::scoped_ptr< FJTAS >
action_server_follow_
classcontroller_1_1JointTrajectoryActionController.html
aa220b0b6b2f05f333eca14923afef513
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointTrajectoryControllerState > >
controller_state_publisher_
classcontroller_1_1JointTrajectoryActionController.html
ab0ba45f3942de0f323f125385953bb27
realtime_tools::RealtimeBox< boost::shared_ptr< const SpecifiedTrajectory > >
current_trajectory_box_
classcontroller_1_1JointTrajectoryActionController.html
a85019210c7daa65eb30bfa2a274bde57
double
default_goal_time_constraint_
classcontroller_1_1JointTrajectoryActionController.html
a835fddf513d19093afaa5319c58980db
std::vector< JointTolerance >
default_goal_tolerance_
classcontroller_1_1JointTrajectoryActionController.html
a96fb7bfccfbcbc65d0b4838104ae9924
std::vector< JointTolerance >
default_trajectory_tolerance_
classcontroller_1_1JointTrajectoryActionController.html
a7a803dcde5adab89e86d14e450a9b86f
ros::Timer
goal_handle_timer_
classcontroller_1_1JointTrajectoryActionController.html
a93fddd9854195806381c6ad727f02dcd
std::vector< pr2_mechanism_model::JointState * >
joints_
classcontroller_1_1JointTrajectoryActionController.html
a67a30627b76bf261636b960231d301d4
ros::Time
last_time_
classcontroller_1_1JointTrajectoryActionController.html
ac64bf794ca83c4fef5fab2d00f425b1d
int
loop_count_
classcontroller_1_1JointTrajectoryActionController.html
ae9eed4f3782bc735576e6b719115e940
std::vector< double >
masses_
classcontroller_1_1JointTrajectoryActionController.html
a693edb9502aa31f28a0b51e1b1e675cb
ros::NodeHandle
node_
classcontroller_1_1JointTrajectoryActionController.html
a321e24addcdd3eee222e20ad1cb9655e
std::vector< boost::shared_ptr< filters::FilterChain< double > > >
output_filters_
classcontroller_1_1JointTrajectoryActionController.html
a3e14f9a2c861da7dec52bdc634d2b082
std::vector< control_toolbox::Pid >
pids_
classcontroller_1_1JointTrajectoryActionController.html
ac1dad7cdeb31751970afab7dbaceeaa5
std::vector< control_toolbox::LimitedProxy >
proxies_
classcontroller_1_1JointTrajectoryActionController.html
a98fb197c64c76c6f8470b146c0e8f8e2
std::vector< bool >
proxies_enabled_
classcontroller_1_1JointTrajectoryActionController.html
ae90813a902cb76a637c3b57892534d0a
std::vector< double >
q
classcontroller_1_1JointTrajectoryActionController.html
a8b76f9463bad3910133e9d8e5d039eb1
std::vector< double >
qd
classcontroller_1_1JointTrajectoryActionController.html
a53901dc355b28c5d8bd87e986c49b8a6
std::vector< double >
qdd
classcontroller_1_1JointTrajectoryActionController.html
ae20dceb673836d4e621e64982b64f733
pr2_mechanism_model::RobotState *
robot_
classcontroller_1_1JointTrajectoryActionController.html
a6b158eb8dd0b97f90e7aa45932220fbc
boost::shared_ptr< RTGoalHandle >
rt_active_goal_
classcontroller_1_1JointTrajectoryActionController.html
a930f48e7c06f828d54d02f4f15a6bf50
boost::shared_ptr< RTGoalHandleFollow >
rt_active_goal_follow_
classcontroller_1_1JointTrajectoryActionController.html
a019552b9c2efd1cf564089c15db34905
ros::ServiceServer
serve_query_state_
classcontroller_1_1JointTrajectoryActionController.html
a4d7eabc8013369abecca3202bb4d4bbe
ros::Subscriber
sub_command_
classcontroller_1_1JointTrajectoryActionController.html
a79361e203829356ab2c871060b93cf11
pr2_controller_interface::JointTrajectoryActionController
classpr2__controller__interface_1_1JointTrajectoryActionController.html
controller::JointVelocityController
classcontroller_1_1JointVelocityController.html
pr2_controller_interface::Controller
void
getCommand
classcontroller_1_1JointVelocityController.html
ac02b5408c700a4bb7b187ed8dd03f9b0
(double &cmd)
void
getGains
classcontroller_1_1JointVelocityController.html
ac67a15c9df910b3300734618c5adca62
(double &p, double &i, double &d, double &i_max, double &i_min)
std::string
getJointName
classcontroller_1_1JointVelocityController.html
a22a3098b2d1101437922aae16cc43249
()
bool
init
classcontroller_1_1JointVelocityController.html
a1d337287e0c1cc33363f3c1846bdf287
(pr2_mechanism_model::RobotState *robot, const std::string &joint_name, const control_toolbox::Pid &pid)
bool
init
classcontroller_1_1JointVelocityController.html
a856fefb7a12f8576ec664491853c6fe7
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JointVelocityController
classcontroller_1_1JointVelocityController.html
a8138eed8a8f8fb4e95fd0bfd3f23c18d
()
void
setCommand
classcontroller_1_1JointVelocityController.html
aab1898d81081953e7fad89b941729ee8
(double cmd)
void
setGains
classcontroller_1_1JointVelocityController.html
a73d35ab6bc86f6d56e2425ac9ceec099
(const double &p, const double &i, const double &d, const double &i_max, const double &i_min)
virtual void
starting
classcontroller_1_1JointVelocityController.html
ad63e776837f51d3d7000cc9327432c44
()
virtual void
update
classcontroller_1_1JointVelocityController.html
af40cc5ab87782d91d54a6b4d5249de1e
()
~JointVelocityController
classcontroller_1_1JointVelocityController.html
afa12f6ce0f525a6feb740b2724972355
()
double
command_
classcontroller_1_1JointVelocityController.html
aba41f60b31648a467d10823cee4e3826
ros::Duration
dt_
classcontroller_1_1JointVelocityController.html
ac30e0d7b67da10141e4ead24c7792175
pr2_mechanism_model::JointState *
joint_state_
classcontroller_1_1JointVelocityController.html
a8f1c87308cd490b91f30a237f9fe8373
void
setCommandCB
classcontroller_1_1JointVelocityController.html
a4c87abf0db91c691cc33e5a435fc8c5d
(const std_msgs::Float64ConstPtr &msg)
boost::scoped_ptr< realtime_tools::RealtimePublisher< pr2_controllers_msgs::JointControllerState > >
controller_state_publisher_
classcontroller_1_1JointVelocityController.html
a081a723dcee2596832e2c69f51d7c9a8
ros::Time
last_time_
classcontroller_1_1JointVelocityController.html
a121e30f59ab98f236c44942ef32e2d11
int
loop_count_
classcontroller_1_1JointVelocityController.html
a1a9bd5595d5d1575737bfaded17b37d0
ros::NodeHandle
node_
classcontroller_1_1JointVelocityController.html
aa9d0626dfc30e1a5cb4ce656c4558b46
control_toolbox::Pid
pid_controller_
classcontroller_1_1JointVelocityController.html
ab142f645957a26025eb37610f246f58a
pr2_mechanism_model::RobotState *
robot_
classcontroller_1_1JointVelocityController.html
a6e8a232754e3a813177b1044c9711785
ros::Subscriber
sub_command_
classcontroller_1_1JointVelocityController.html
af867aa9953fd0943bb08338f82de5e9c
friend class
JointVelocityControllerNode
classcontroller_1_1JointVelocityController.html
a5c0df35facffb1d3d64311f4f7764e10
pr2_controller_interface::JointVelocityController
classpr2__controller__interface_1_1JointVelocityController.html
controller::JTCartesianController
classcontroller_1_1JTCartesianController.html
pr2_controller_interface::Controller
void
commandPose
classcontroller_1_1JTCartesianController.html
a1c1f8b7150651a14bfe33c37bb9ea580
(const geometry_msgs::PoseStamped::ConstPtr &command)
void
commandPosture
classcontroller_1_1JTCartesianController.html
a7d48a84787749f070a417dbc71d71656
(const std_msgs::Float64MultiArray::ConstPtr &msg)
bool
init
classcontroller_1_1JTCartesianController.html
a85c1ea0988483f136f5871c06742dfee
(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n)
JTCartesianController
classcontroller_1_1JTCartesianController.html
ae71911dd8e72c5a4a077cf72dee4caff
()
void
setGains
classcontroller_1_1JTCartesianController.html
af6b5c5692e3df2c2b1869800119a47dc
(const std_msgs::Float64MultiArray::ConstPtr &msg)
void
starting
classcontroller_1_1JTCartesianController.html
a400b339242197275f35ae968ac852cd6
()
void
update
classcontroller_1_1JTCartesianController.html
aff3b22a32296a1358aa4f9058f946944
()
~JTCartesianController
classcontroller_1_1JTCartesianController.html
a12b498c347d7cf33dded3d19327e6f48
()
pr2_mechanism_model::Chain
chain_
classcontroller_1_1JTCartesianController.html
a0f228e6963eaa273c9f01534f8d0e742
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
classcontroller_1_1JTCartesianController.html
a62e7ffa08455db7d05215adadf133dd2
double
jacobian_inverse_damping_
classcontroller_1_1JTCartesianController.html
a66118df191d1a81d708fe111f3520ee2
JointVec
joint_dd_ff_
classcontroller_1_1JTCartesianController.html
ac560c662894b4b8fa40731d732f6f7c3
double
joint_vel_filter_
classcontroller_1_1JTCartesianController.html
a4aae582ce7e04ad9c70000461d859ba0
double
k_posture_
classcontroller_1_1JTCartesianController.html
aa77c1c0283a9d24d8fd237c9d804079e
Eigen::Matrix< double, 6, 1 >
Kd
classcontroller_1_1JTCartesianController.html
abe05e5e3bdde22adc36bbb14e60c5d30
boost::scoped_ptr< Kin< Joints > >
kin_
classcontroller_1_1JTCartesianController.html
ae90f02d5120d5ddd37f8d32b5615c214
Eigen::Matrix< double, 6, 1 >
Kp
classcontroller_1_1JTCartesianController.html
a6e7c1e4a647ad319c63fd22923aa193d
Eigen::Affine3d
last_pose_
classcontroller_1_1JTCartesianController.html
a7206ee6ba7e36c267dd4344dff3443b2
ros::Time
last_time_
classcontroller_1_1JTCartesianController.html
a46102e5b799277d8e95b5da0cbd8c8b7
CartVec
last_wrench_
classcontroller_1_1JTCartesianController.html
a5cd6cff8325b5517b207d5f696742f04
int
loop_count_
classcontroller_1_1JTCartesianController.html
a9146dfb688e8c7af39f143864eb80898
ros::NodeHandle
node_
classcontroller_1_1JTCartesianController.html
a5a84f24e1eb363e669e39eb63e03e286
double
pose_command_filter_
classcontroller_1_1JTCartesianController.html
a46c1db3ad2ae24d9706a25b3972dabea
realtime_tools::RealtimePublisher< StateMsg >
pub_state_
classcontroller_1_1JTCartesianController.html
aa510f6fcdabb9337e7b8b02369d969d8
realtime_tools::RealtimePublisher< geometry_msgs::PoseStamped >
pub_x_desi_
classcontroller_1_1JTCartesianController.html
aa6f19148b5367c971d18bc76d1c1a4c2
JointVec
q_posture_
classcontroller_1_1JTCartesianController.html
af0d4b2cdefa423a45cf5f3cf8eadba9f
JointVec
qdot_filtered_
classcontroller_1_1JTCartesianController.html
a02f358ef4c0aa50e8de4184743b8ac66
double
res_force_
classcontroller_1_1JTCartesianController.html
ae257ab8d8c3a9c381388dbb389a6f063
double
res_orientation_
classcontroller_1_1JTCartesianController.html
a16473293d92c8e4a556bde4015e5ebf3
double
res_position_
classcontroller_1_1JTCartesianController.html
ad8bf374785bf5e793a0ea21819889ada
double
res_torque_
classcontroller_1_1JTCartesianController.html
a6c5fbcb9c26d29b35114f750ce41dd97
pr2_mechanism_model::RobotState *
robot_state_
classcontroller_1_1JTCartesianController.html
a63e5f4f41060435a751d73e57e1b330e
std::string
root_name_
classcontroller_1_1JTCartesianController.html
ab4d9b40b9f72f35e2183c07a6406a255
JointVec
saturation_
classcontroller_1_1JTCartesianController.html
a5fca45ca225b254c2d3d25738d490576
ros::Subscriber
sub_gains_
classcontroller_1_1JTCartesianController.html
a13fcb60e8440b6da41d1fbecda526fc0
ros::Subscriber
sub_pose_
classcontroller_1_1JTCartesianController.html
a8cb13b582ba77555ca857901a804a668
ros::Subscriber
sub_posture_
classcontroller_1_1JTCartesianController.html
a9a8a672ff9524b1735fa69be73561bc6
tf::TransformListener
tf_
classcontroller_1_1JTCartesianController.html
a797d138c8f10f5bfbf97bcd0c67809b2
std::string
tip_name_
classcontroller_1_1JTCartesianController.html
adc4be90fe556668099ec7ee15d7c6487
bool
use_posture_
classcontroller_1_1JTCartesianController.html
ab32152bea69157db7d2be2579295654e
double
vel_saturation_rot_
classcontroller_1_1JTCartesianController.html
a34c90d2947b463545341e134a1e83bfc
double
vel_saturation_trans_
classcontroller_1_1JTCartesianController.html
acb2afbfd2846aedc5becadfa8eececf9
CartVec
wrench_desi_
classcontroller_1_1JTCartesianController.html
a1f66583b03b5f484fef5feb798f9470f
Eigen::Affine3d
x_desi_
classcontroller_1_1JTCartesianController.html
a811b440407c20eef591eedd9dd4d5725
Eigen::Affine3d
x_desi_filtered_
classcontroller_1_1JTCartesianController.html
ab85656104b2584350a69f3a4d0e05660
Joints
classcontroller_1_1JTCartesianController.html
a987ab4703b9f8ea5fca3e89465f34bb3a53718a2f8fd5c02ba55570a690b68bd1
Eigen::Matrix< double, 6, 1 >
CartVec
classcontroller_1_1JTCartesianController.html
a31f8abf7c86c6093436a84586b1b7c81
Eigen::Matrix< double, 6, Joints >
Jacobian
classcontroller_1_1JTCartesianController.html
a6eaf6ef5d61578f1ba3fc37f2f94fa87
Joints
classcontroller_1_1JTCartesianController.html
a987ab4703b9f8ea5fca3e89465f34bb3a53718a2f8fd5c02ba55570a690b68bd1
Eigen::Matrix< double, Joints, 1 >
JointVec
classcontroller_1_1JTCartesianController.html
a782837d4e61ee12f4218ed0ec7aa8c71
robot_mechanism_controllers::JTCartesianControllerState
StateMsg
classcontroller_1_1JTCartesianController.html
ab9f9e7dbb8418eb8f55eea716bc60512
controller::Kin
structcontroller_1_1Kin.html
Joints
Eigen::Matrix< double, 6, Joints >
Jacobian
structcontroller_1_1Kin.html
afb23348afcc70b5b123da0b215e2d967
Eigen::Matrix< double, Joints, 1 >
JointVec
structcontroller_1_1Kin.html
af7941cb02c4e3e81c2904111147246dc
void
fk
structcontroller_1_1Kin.html
afde0c5066020803af9ff3eb774787786
(const JointVec &q, Eigen::Affine3d &x)
void
jac
structcontroller_1_1Kin.html
a3249e48d86f9eaa5992ff826276e1aab
(const JointVec &q, Jacobian &J)
Kin
structcontroller_1_1Kin.html
a91352f15061ea9beab8d97a47baecb6b
(const KDL::Chain &kdl_chain)
~Kin
structcontroller_1_1Kin.html
a320130aff23610a6c0bf3fa77c9c7f7e
()
KDL::ChainFkSolverPos_recursive
fk_solver_
structcontroller_1_1Kin.html
a27fcd6bd45d972a7fbe4bb98c4fdd45c
KDL::ChainJntToJacSolver
jac_solver_
structcontroller_1_1Kin.html
adfbf2dcaf88087bd4b169044850bcdc6
KDL::Jacobian
kdl_J
structcontroller_1_1Kin.html
a751438f7a82f147f93453f8f36ae52bc
KDL::JntArray
kdl_q
structcontroller_1_1Kin.html
a025ed0eae46edb2c7ef4d759f5adab1f
controller::RTServerGoalHandle
classcontroller_1_1RTServerGoalHandle.html
RTServerGoalHandle
classcontroller_1_1RTServerGoalHandle.html
affaf47067acaf81eec94400eda65ac33
(GoalHandle &gh, const ResultPtr &preallocated_result=ResultPtr((Result *) NULL))
void
runNonRT
classcontroller_1_1RTServerGoalHandle.html
a34670642c15795f449232bea6a7fec4c
(const ros::TimerEvent &te)
void
setAborted
classcontroller_1_1RTServerGoalHandle.html
ace8b3d763f6f33abbcfa98dde829d1b1
(ResultConstPtr result=ResultConstPtr((Result *) NULL))
void
setSucceeded
classcontroller_1_1RTServerGoalHandle.html
a50d6c8db994dfe52020a63056652b126
(ResultConstPtr result=ResultConstPtr((Result *) NULL))
bool
valid
classcontroller_1_1RTServerGoalHandle.html
aee953eb9c993b7ea30412ebe00da275e
()
GoalHandle
gh_
classcontroller_1_1RTServerGoalHandle.html
ac75ea88d4c6ff5140a8fb796a5a7920e
FeedbackPtr
preallocated_feedback_
classcontroller_1_1RTServerGoalHandle.html
aaf3d85d8468578031da41e4015879d9a
ResultPtr
preallocated_result_
classcontroller_1_1RTServerGoalHandle.html
a9d614b7dc8cfadf2ba3e35b55ecd5fc7
boost::shared_ptr< Feedback >
FeedbackPtr
classcontroller_1_1RTServerGoalHandle.html
a2954f558b2d78bf84a779ab509dbc6e9
actionlib::ServerGoalHandle< Action >
GoalHandle
classcontroller_1_1RTServerGoalHandle.html
aff23313a65ea96371490efbe9cb7c975
boost::shared_ptr< Result >
ResultPtr
classcontroller_1_1RTServerGoalHandle.html
a20351e1cc3a0ded0725bb1a369ef7ad1
ACTION_DEFINITION
classcontroller_1_1RTServerGoalHandle.html
a63f4d40559ccd1fb931455a02c464625
(Action)
bool
req_abort_
classcontroller_1_1RTServerGoalHandle.html
a189abe3ed309829619419d6dbb9beaae
ResultConstPtr
req_result_
classcontroller_1_1RTServerGoalHandle.html
a0a56b7249fb30b7f12876254f3d536db
bool
req_succeed_
classcontroller_1_1RTServerGoalHandle.html
a42057b38e2c0869ba16c3cf502f41dee
uint8_t
state_
classcontroller_1_1RTServerGoalHandle.html
aaa84c9852da50bdc7fb4fb1fe988c4f7
controller::JointSplineTrajectoryController::Segment
structcontroller_1_1JointSplineTrajectoryController_1_1Segment.html
double
duration
structcontroller_1_1JointSplineTrajectoryController_1_1Segment.html
a847999fc6dcfbcff05999f9886006ec7
std::vector< Spline >
splines
structcontroller_1_1JointSplineTrajectoryController_1_1Segment.html
a47763699dd740be92d8fcb22288003d9
double
start_time
structcontroller_1_1JointSplineTrajectoryController_1_1Segment.html
a84f4ee03379b7dfae665b0f03141388b
controller::JointTrajectoryActionController::Segment
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
double
duration
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a6416f72f25d7a65a87abb1a2636aca55
boost::shared_ptr< RTGoalHandle >
gh
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a6db535531b1f4db35ca67a91e6a18375
boost::shared_ptr< RTGoalHandleFollow >
gh_follow
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a88000630fe300e802a4ffaf38b3c56fc
double
goal_time_tolerance
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a01c938f7ac58e60daab0b05af4bb6ab2
std::vector< JointTolerance >
goal_tolerance
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a00148f37068a6ad31aab538d414816b5
std::vector< Spline >
splines
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a534401c093d3d6f19d61090a060f99d4
double
start_time
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a1d7976caabed3e6b87d381924e3d2b42
std::vector< JointTolerance >
trajectory_tolerance
structcontroller_1_1JointTrajectoryActionController_1_1Segment.html
a8e7b8a88da486f3ef30efa6e7e5b5089
controller::JointSplineTrajectoryController::Spline
structcontroller_1_1JointSplineTrajectoryController_1_1Spline.html
Spline
structcontroller_1_1JointSplineTrajectoryController_1_1Spline.html
a2f0ac69d2b1d9ccf13b855eefefa846a
()
std::vector< double >
coef
structcontroller_1_1JointSplineTrajectoryController_1_1Spline.html
ad2c620a67efc2a1a835bffd297f02a54
controller::JointTrajectoryActionController::Spline
structcontroller_1_1JointTrajectoryActionController_1_1Spline.html
Spline
structcontroller_1_1JointTrajectoryActionController_1_1Spline.html
a941071487802653d5c7a01627d574e6b
()
std::vector< double >
coef
structcontroller_1_1JointTrajectoryActionController_1_1Spline.html
afa847cec20b2b4d5eefabd307c1d10ad
controller
namespacecontroller.html
controller::CartesianPoseController
controller::CartesianTwistController
controller::CartesianWrenchController
controller::JointEffortController
controller::JointGroupVelocityController
controller::JointPositionController
controller::JointSplineTrajectoryController
controller::JointTolerance
controller::JointTrajectoryActionController
controller::JointVelocityController
controller::JTCartesianController
controller::Kin
controller::RTServerGoalHandle
static void
computePoseError
namespacecontroller.html
a1c6cb0f31edd0d535b924d3a15af2db2
(const Eigen::Affine3d &xact, const Eigen::Affine3d &xdes, Eigen::Matrix< double, 6, 1 > &err)
static void
generatePowers
namespacecontroller.html
a857d0410108b09aed665de938baa2dbf
(int n, double x, double *powers)
static void
generatePowers
namespacecontroller.html
a857d0410108b09aed665de938baa2dbf
(int n, double x, double *powers)
static void
getCubicSplineCoefficients
namespacecontroller.html
a1fb53e28a1d1a60ec6d94892f86c01dc
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void
getCubicSplineCoefficients
namespacecontroller.html
a1fb53e28a1d1a60ec6d94892f86c01dc
(double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
static void
getQuinticSplineCoefficients
namespacecontroller.html
ab112e36b286d992b6c14ae9b646f7a86
(double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void
getQuinticSplineCoefficients
namespacecontroller.html
ab112e36b286d992b6c14ae9b646f7a86
(double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
static void
sampleQuinticSpline
namespacecontroller.html
ab5ebd7b0d1c87475b10cbd3c0edf115a
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
static void
sampleQuinticSpline
namespacecontroller.html
ab5ebd7b0d1c87475b10cbd3c0edf115a
(const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
static bool
setsEqual
namespacecontroller.html
ad368bf1ebd08a6a0f2284166d5761bb6
(const std::vector< std::string > &a, const std::vector< std::string > &b)
static boost::shared_ptr< Member >
share_member
namespacecontroller.html
a7976137a44d7ebf492e5251fc2c74d6c
(boost::shared_ptr< Enclosure > enclosure, Member &member)
effort
namespaceeffort.html
def
load_joint_config
namespaceeffort.html
ad2ddf33c54c033edd99f056f49b300b6
(joint_name)
def
main
namespaceeffort.html
a0506f5890e06457dd2e39e255ffc64a3
()
def
shutdown
namespaceeffort.html
a09d65167961a895cffa872e7794e0a03
(sig, stackframe)
string
CONTROLLER_NAME
namespaceeffort.html
a64f80b83fbdd608699fd3505441d5d30
prev_handler
namespaceeffort.html
ad0195705c871093c1570b05dff2f87dc
posture
namespaceposture.html
anonymous
namespaceposture.html
aef415094b11565702b0c3babfb86e9fa
controller
namespaceposture.html
ae6b02ddc69107494878ddb5e8078a759
disable_signals
namespaceposture.html
a9c3d085d5f40e99e70f36109dd689225
m
namespaceposture.html
a8e2e3d0721b04e87330b67a19cb929df
posture
namespaceposture.html
a53fed04d38dd762596cb4f178f03c592
dictionary
postures
namespaceposture.html
ac609b124bc707a7828de74e17411a51f
pub_posture
namespaceposture.html
abff5bdb48748bcef9e7e7428dea05577
True
namespaceposture.html
a1bcaf98fd15a97c663f17b939e66cf4e
index
index