DebugFkVelRecursive Class Reference

Public Member Functions
void	controllerstateCallback (const control_msgs::JointTrajectoryControllerState::ConstPtr &msg)
int	init ()
void	jointstatesCallback (const sensor_msgs::JointState::ConstPtr &msg)

Private Attributes
KDL::Chain	chain_
std::string	chain_base_link_
std::string	chain_tip_link_
ros::Subscriber	controller_state_sub_
ros::Subscriber	joint_states_sub_
ros::Publisher	manipulability_pub_
ros::NodeHandle	nh_
KDL::ChainFkSolverVel_recursive *	p_fksolver_vel_
KDL::ChainJntToJacSolver *	p_jnt2jac_
ros::Publisher	twist_current_pub_
ros::Publisher	twist_magnitude_actual_pub_
ros::Publisher	twist_magnitude_desired_pub_

Detailed Description

Definition at line 38 of file debug_fk_vel_recursive_node.cpp.

Member Function Documentation

controllerstateCallback()

void DebugFkVelRecursive::controllerstateCallback ( const control_msgs::JointTrajectoryControllerState::ConstPtr &  msg )

inline

compute desired twists recursively

compute actual twists recursively

Definition at line 177 of file debug_fk_vel_recursive_node.cpp.

init()

int DebugFkVelRecursive::init ( )

inline

parse robot_description and generate KDL chains

initialize ROS interfaces

Definition at line 56 of file debug_fk_vel_recursive_node.cpp.

jointstatesCallback()

void DebugFkVelRecursive::jointstatesCallback ( const sensor_msgs::JointState::ConstPtr &  msg )

inline

extract q, q_dot from JointStates

compute current twist

compute manipulability

Definition at line 113 of file debug_fk_vel_recursive_node.cpp.

Member Data Documentation

chain_

KDL::Chain DebugFkVelRecursive::chain_

private

Definition at line 51 of file debug_fk_vel_recursive_node.cpp.

chain_base_link_

std::string DebugFkVelRecursive::chain_base_link_

private

Definition at line 48 of file debug_fk_vel_recursive_node.cpp.

chain_tip_link_

std::string DebugFkVelRecursive::chain_tip_link_

private

Definition at line 49 of file debug_fk_vel_recursive_node.cpp.

controller_state_sub_

ros::Subscriber DebugFkVelRecursive::controller_state_sub_

private

Definition at line 42 of file debug_fk_vel_recursive_node.cpp.

joint_states_sub_

ros::Subscriber DebugFkVelRecursive::joint_states_sub_

private

Definition at line 41 of file debug_fk_vel_recursive_node.cpp.

manipulability_pub_

ros::Publisher DebugFkVelRecursive::manipulability_pub_

private

Definition at line 43 of file debug_fk_vel_recursive_node.cpp.

nh_

ros::NodeHandle DebugFkVelRecursive::nh_

private

Definition at line 40 of file debug_fk_vel_recursive_node.cpp.

p_fksolver_vel_

KDL::ChainFkSolverVel_recursive* DebugFkVelRecursive::p_fksolver_vel_

private

Definition at line 52 of file debug_fk_vel_recursive_node.cpp.

p_jnt2jac_

KDL::ChainJntToJacSolver* DebugFkVelRecursive::p_jnt2jac_

private

Definition at line 53 of file debug_fk_vel_recursive_node.cpp.

twist_current_pub_

ros::Publisher DebugFkVelRecursive::twist_current_pub_

private

Definition at line 44 of file debug_fk_vel_recursive_node.cpp.

twist_magnitude_actual_pub_

ros::Publisher DebugFkVelRecursive::twist_magnitude_actual_pub_

private

Definition at line 46 of file debug_fk_vel_recursive_node.cpp.

twist_magnitude_desired_pub_

ros::Publisher DebugFkVelRecursive::twist_magnitude_desired_pub_

private

Definition at line 45 of file debug_fk_vel_recursive_node.cpp.

---

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

• debug_fk_vel_recursive_node.cpp