xpp::CartesianJointConverter Class Reference

Converts a Cartesian robot representation to joint angles. More...

#include <cartesian_joint_converter.h>

Public Member Functions
	CartesianJointConverter (const InverseKinematics::Ptr &ik, const std::string &cart_topic, const std::string &joint_topic)
	Creates a converter initializing the subscriber and publisher. More...
virtual	~CartesianJointConverter ()=default

Private Member Functions
void	StateCallback (const xpp_msgs::RobotStateCartesian &msg)

Private Attributes
ros::Subscriber	cart_state_sub_
InverseKinematics::Ptr	inverse_kinematics_
ros::Publisher	joint_state_pub_

Detailed Description

Converts a Cartesian robot representation to joint angles.

This class subscribes to a Cartesian robot state message and publishes the, through inverse kinematics converted, joint state message. This can then be used to visualize URDFs in RVIZ.

Definition at line 78 of file cartesian_joint_converter.h.

Constructor & Destructor Documentation

CartesianJointConverter()

xpp::CartesianJointConverter::CartesianJointConverter	(	const InverseKinematics::Ptr &	ik,
		const std::string &	cart_topic,
		const std::string &	joint_topic
	)

Creates a converter initializing the subscriber and publisher.

Parameters

ik	The InverseKinematics to use for conversion.
cart_topic	The ROS topic containing the Cartesian robot state.
joint_topic	The ROS topic to publish for the URDF visualization.

Definition at line 66 of file cartesian_joint_converter.cc.

~CartesianJointConverter()

virtual xpp::CartesianJointConverter::~CartesianJointConverter ( )

virtualdefault

Member Function Documentation

StateCallback()

void xpp::CartesianJointConverter::StateCallback ( const xpp_msgs::RobotStateCartesian &  msg )

private

Definition at line 81 of file cartesian_joint_converter.cc.

Member Data Documentation

cart_state_sub_

ros::Subscriber xpp::CartesianJointConverter::cart_state_sub_

private

Definition at line 121 of file cartesian_joint_converter.h.

inverse_kinematics_

InverseKinematics::Ptr xpp::CartesianJointConverter::inverse_kinematics_

private

Definition at line 124 of file cartesian_joint_converter.h.

joint_state_pub_

ros::Publisher xpp::CartesianJointConverter::joint_state_pub_

private

Definition at line 122 of file cartesian_joint_converter.h.

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

• cartesian_joint_converter.h
• cartesian_joint_converter.cc