pilz_control::JointStatesSpeedObserver Class Reference

Computes frame speeds from joint_states data. More...

#include <joint_states_speed_observer.h>

Public Member Functions
	JointStatesSpeedObserver (const ros::NodeHandle &nh)

Private Member Functions
void	jointStatesCallback (const sensor_msgs::JointStateConstPtr &msg)
void	publishMaxFrameSpeed (const double &speed)
void	setupKinematics ()
bool	validateLinkNames ()

Private Attributes
std::vector< std::string >	frames_to_observe_
ros::Subscriber	joint_states_sub_
robot_model::RobotModelPtr	kinematic_model_
robot_state::RobotStatePtr	kinematic_state_
ros::Publisher	max_frame_speed_pub_
ros::NodeHandle	nh_
std::map< std::string, Eigen::Isometry3d >	previous_tfs_
ros::Time	previous_time_stamp_
std::string	reference_frame_
robot_model_loader::RobotModelLoaderPtr	robot_model_loader_

Detailed Description

Computes frame speeds from joint_states data.

Definition at line 38 of file joint_states_speed_observer.h.

Constructor & Destructor Documentation

JointStatesSpeedObserver()

pilz_control::JointStatesSpeedObserver::JointStatesSpeedObserver

(

const ros::NodeHandle &

nh

)

Definition at line 43 of file joint_states_speed_observer.cpp.

Member Function Documentation

jointStatesCallback()

void pilz_control::JointStatesSpeedObserver::jointStatesCallback ( const sensor_msgs::JointStateConstPtr &  msg )

private

Definition at line 74 of file joint_states_speed_observer.cpp.

publishMaxFrameSpeed()

void pilz_control::JointStatesSpeedObserver::publishMaxFrameSpeed ( const double &  speed )

private

Definition at line 108 of file joint_states_speed_observer.cpp.

setupKinematics()

void pilz_control::JointStatesSpeedObserver::setupKinematics ( )

private

Definition at line 56 of file joint_states_speed_observer.cpp.

validateLinkNames()

bool pilz_control::JointStatesSpeedObserver::validateLinkNames ( )

private

Definition at line 68 of file joint_states_speed_observer.cpp.

Member Data Documentation

frames_to_observe_

std::vector<std::string> pilz_control::JointStatesSpeedObserver::frames_to_observe_

private

Definition at line 55 of file joint_states_speed_observer.h.

joint_states_sub_

ros::Subscriber pilz_control::JointStatesSpeedObserver::joint_states_sub_

private

Definition at line 51 of file joint_states_speed_observer.h.

kinematic_model_

robot_model::RobotModelPtr pilz_control::JointStatesSpeedObserver::kinematic_model_

private

Definition at line 60 of file joint_states_speed_observer.h.

kinematic_state_

robot_state::RobotStatePtr pilz_control::JointStatesSpeedObserver::kinematic_state_

private

Definition at line 61 of file joint_states_speed_observer.h.

max_frame_speed_pub_

ros::Publisher pilz_control::JointStatesSpeedObserver::max_frame_speed_pub_

private

Definition at line 52 of file joint_states_speed_observer.h.

nh_

ros::NodeHandle pilz_control::JointStatesSpeedObserver::nh_

private

Definition at line 50 of file joint_states_speed_observer.h.

previous_tfs_

std::map<std::string, Eigen::Isometry3d> pilz_control::JointStatesSpeedObserver::previous_tfs_

private

Definition at line 57 of file joint_states_speed_observer.h.

previous_time_stamp_

ros::Time pilz_control::JointStatesSpeedObserver::previous_time_stamp_

private

Definition at line 56 of file joint_states_speed_observer.h.

reference_frame_

std::string pilz_control::JointStatesSpeedObserver::reference_frame_

private

Definition at line 54 of file joint_states_speed_observer.h.

robot_model_loader_

robot_model_loader::RobotModelLoaderPtr pilz_control::JointStatesSpeedObserver::robot_model_loader_

private

Definition at line 59 of file joint_states_speed_observer.h.

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

• joint_states_speed_observer.h
• joint_states_speed_observer.cpp