CobTwistController Class Reference

#include <cob_twist_controller.h>

Public Member Functions
void	checkSolverAndConstraints (cob_twist_controller::TwistControllerConfig &config)
	CobTwistController ()
bool	initialize ()
void	jointstateCallback (const sensor_msgs::JointState::ConstPtr &msg)
void	odometryCallback (const nav_msgs::Odometry::ConstPtr &msg)
void	reconfigureCallback (cob_twist_controller::TwistControllerConfig &config, uint32_t level)
bool	registerCollisionLinks ()
void	solveTwist (KDL::Twist twist)
	Orientation of twist is with respect to chain_base coordinate system. More...
void	twistCallback (const geometry_msgs::Twist::ConstPtr &msg)
	Orientation of twist_msg is with respect to chain_base coordinate system. More...
void	twistStampedCallback (const geometry_msgs::TwistStamped::ConstPtr &msg)
	Orientation of twist_stamped_msg is with respect to coordinate system given in header.frame_id. More...
void	visualizeTwist (KDL::Twist twist)
	~CobTwistController ()

Public Attributes
boost::recursive_mutex	reconfig_mutex_
boost::shared_ptr< dynamic_reconfigure::Server< cob_twist_controller::TwistControllerConfig > >	reconfigure_server_

Private Attributes
CallbackDataMediator	callback_data_mediator_
KDL::Chain	chain_
boost::shared_ptr< cob_twist_controller::ControllerInterfaceBase >	controller_interface_
boost::shared_ptr< pluginlib::ClassLoader< cob_twist_controller::ControllerInterfaceBase > >	interface_loader_
boost::shared_ptr< KDL::ChainFkSolverVel_recursive >	jntToCartSolver_vel_
JointStates	joint_states_
ros::Subscriber	jointstate_sub_
ros::NodeHandle	nh_
ros::Subscriber	obstacle_distance_sub_
ros::Subscriber	odometry_sub_
boost::shared_ptr< InverseDifferentialKinematicsSolver >	p_inv_diff_kin_solver_
ros::ServiceClient	register_link_client_
tf::TransformListener	tf_listener_
TwistControllerParams	twist_controller_params_
ros::Publisher	twist_direction_pub_
KDL::Twist	twist_odometry_cb_
ros::Subscriber	twist_stamped_sub_
ros::Subscriber	twist_sub_

Detailed Description

Definition at line 51 of file cob_twist_controller.h.

Constructor & Destructor Documentation

CobTwistController()

CobTwistController::CobTwistController ( )

inline

Definition at line 84 of file cob_twist_controller.h.

~CobTwistController()

CobTwistController::~CobTwistController ( )

inline

Definition at line 88 of file cob_twist_controller.h.

Member Function Documentation

checkSolverAndConstraints()

void CobTwistController::checkSolverAndConstraints

(

cob_twist_controller::TwistControllerConfig &

config

)

Definition at line 251 of file cob_twist_controller.cpp.

initialize()

bool CobTwistController::initialize

(

)

parse robot_description and generate KDL chains

parse robot_description and set velocity limits

initialize configuration control solver

Setting up dynamic_reconfigure server for the TwistControlerConfig parameters

initialize variables and current joint values and velocities

give tf_listener some time to fill tf-cache

initialize ROS interfaces

publisher for visualizing current twist direction

Definition at line 33 of file cob_twist_controller.cpp.

jointstateCallback()

void CobTwistController::jointstateCallback

(

const sensor_msgs::JointState::ConstPtr &

msg

)

Definition at line 518 of file cob_twist_controller.cpp.

odometryCallback()

void CobTwistController::odometryCallback

(

const nav_msgs::Odometry::ConstPtr &

msg

)

Definition at line 547 of file cob_twist_controller.cpp.

reconfigureCallback()

void CobTwistController::reconfigureCallback	(	cob_twist_controller::TwistControllerConfig &	config,
		uint32_t	level
	)

Definition at line 235 of file cob_twist_controller.cpp.

registerCollisionLinks()

bool CobTwistController::registerCollisionLinks

(

)

Definition at line 205 of file cob_twist_controller.cpp.

solveTwist()

void CobTwistController::solveTwist

(

KDL::Twist

twist

)

Orientation of twist is with respect to chain_base coordinate system.

Definition at line 398 of file cob_twist_controller.cpp.

twistCallback()

void CobTwistController::twistCallback

(

const geometry_msgs::Twist::ConstPtr &

msg

)

Orientation of twist_msg is with respect to chain_base coordinate system.

Definition at line 390 of file cob_twist_controller.cpp.

twistStampedCallback()

void CobTwistController::twistStampedCallback

(

const geometry_msgs::TwistStamped::ConstPtr &

msg

)

Orientation of twist_stamped_msg is with respect to coordinate system given in header.frame_id.

Definition at line 367 of file cob_twist_controller.cpp.

visualizeTwist()

void CobTwistController::visualizeTwist

(

KDL::Twist

twist

)

calculate rotation between twist-axis and z-axis of cylinder

Definition at line 429 of file cob_twist_controller.cpp.

Member Data Documentation

callback_data_mediator_

CallbackDataMediator CobTwistController::callback_data_mediator_

private

Definition at line 79 of file cob_twist_controller.h.

chain_

KDL::Chain CobTwistController::chain_

private

Definition at line 68 of file cob_twist_controller.h.

controller_interface_

boost::shared_ptr<cob_twist_controller::ControllerInterfaceBase> CobTwistController::controller_interface_

private

Definition at line 76 of file cob_twist_controller.h.

interface_loader_

boost::shared_ptr<pluginlib::ClassLoader<cob_twist_controller::ControllerInterfaceBase> > CobTwistController::interface_loader_

private

Definition at line 77 of file cob_twist_controller.h.

jntToCartSolver_vel_

boost::shared_ptr<KDL::ChainFkSolverVel_recursive> CobTwistController::jntToCartSolver_vel_

private

Definition at line 74 of file cob_twist_controller.h.

joint_states_

JointStates CobTwistController::joint_states_

private

Definition at line 69 of file cob_twist_controller.h.

jointstate_sub_

ros::Subscriber CobTwistController::jointstate_sub_

private

Definition at line 56 of file cob_twist_controller.h.

nh_

ros::NodeHandle CobTwistController::nh_

private

Definition at line 54 of file cob_twist_controller.h.

obstacle_distance_sub_

ros::Subscriber CobTwistController::obstacle_distance_sub_

private

Definition at line 66 of file cob_twist_controller.h.

odometry_sub_

ros::Subscriber CobTwistController::odometry_sub_

private

Definition at line 61 of file cob_twist_controller.h.

p_inv_diff_kin_solver_

boost::shared_ptr<InverseDifferentialKinematicsSolver> CobTwistController::p_inv_diff_kin_solver_

private

Definition at line 75 of file cob_twist_controller.h.

reconfig_mutex_

boost::recursive_mutex CobTwistController::reconfig_mutex_

Definition at line 111 of file cob_twist_controller.h.

reconfigure_server_

boost::shared_ptr< dynamic_reconfigure::Server<cob_twist_controller::TwistControllerConfig> > CobTwistController::reconfigure_server_

Definition at line 112 of file cob_twist_controller.h.

register_link_client_

ros::ServiceClient CobTwistController::register_link_client_

private

Definition at line 65 of file cob_twist_controller.h.

tf_listener_

tf::TransformListener CobTwistController::tf_listener_

private

Definition at line 81 of file cob_twist_controller.h.

twist_controller_params_

TwistControllerParams CobTwistController::twist_controller_params_

private

Definition at line 72 of file cob_twist_controller.h.

twist_direction_pub_

ros::Publisher CobTwistController::twist_direction_pub_

private

Definition at line 63 of file cob_twist_controller.h.

twist_odometry_cb_

KDL::Twist CobTwistController::twist_odometry_cb_

private

Definition at line 70 of file cob_twist_controller.h.

twist_stamped_sub_

ros::Subscriber CobTwistController::twist_stamped_sub_

private

Definition at line 59 of file cob_twist_controller.h.

twist_sub_

ros::Subscriber CobTwistController::twist_sub_

private

Definition at line 58 of file cob_twist_controller.h.

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

• cob_twist_controller.h
• cob_twist_controller.cpp