GeneralCommander Class Reference

#include <pr2_teleop_general_commander.h>

Public Types
enum	ArmControlMode { ARM_NO_CONTROLLER, ARM_MANNEQUIN_MODE, ARM_POSITION_CONTROL }
enum	HeadControlMode { HEAD_JOYSTICK, HEAD_TRACK_LEFT_HAND, HEAD_TRACK_RIGHT_HAND, HEAD_MANNEQUIN }
enum	HeadSequence { HEAD_NOD, HEAD_SHAKE }
enum	LaserControlMode { LASER_TILT_OFF, LASER_TILT_SLOW, LASER_TILT_FAST }
enum	WhichArm { ARMS_LEFT, ARMS_RIGHT, ARMS_BOTH }
Public Member Functions
	GeneralCommander (bool control_body, bool control_head, bool control_rarm, bool control_larm, bool control_prosilica, std::string arm_controller_name=default_arm_controller_name)
ArmControlMode	getArmMode (WhichArm which)
HeadControlMode	getHeadMode ()
bool	getJointPosition (const std::string &name, double &pos) const
bool	getJointVelocity (const std::string &name, double &vel) const
LaserControlMode	getLaserMode ()
bool	initWalkAlong ()
bool	isWalkAlongOk ()
bool	moveToWalkAlongArmPose ()
void	requestProsilicaImage (std::string ns)
void	sendArmVelCommands (double r_x_vel, double r_y_vel, double r_z_vel, double r_yaw_vel, double l_x_vel, double l_y_vel, double l_z_vel, double l_yaw_vel, double hz)
void	sendBaseCommand (double vx, double vy, double vw)
void	sendGripperCommand (WhichArm which, bool close)
void	sendHeadCommand (double req_pan, double req_tilt)
void	sendHeadSequence (HeadSequence seq)
void	sendHeadTrackCommand ()
void	sendProjectorStartStop (bool start)
void	sendTorsoCommand (double pos, double vel)
void	sendWalkAlongCommand (double thresh, double x_dist_max, double x_speed_scale, double y_dist_max, double y_speed_scale, double rot_scale)
void	sendWristVelCommands (double right_wrist_vel, double left_wrist_vel, double hz)
void	setArmMode (WhichArm which, ArmControlMode mode)
void	setHeadMode (HeadControlMode mode)
void	setLaserMode (LaserControlMode mode)
void	switchControllers (const std::vector< std::string > &start_controllers, const std::vector< std::string > &stop_controllers)
void	tuckArms (WhichArm arm)
void	turnOffWalkAlong ()
void	untuckArms (WhichArm arm)
void	updateCurrentWristPositions ()
	~GeneralCommander ()
Private Member Functions
double	calcAverage (const std::list< double > &av_list) const
void	clampDesiredArmPositionsToActual (double max_dist)
void	composeWristRotGoal (const std::string pref, pr2_controllers_msgs::JointTrajectoryGoal &goal, std::vector< double > &des_joints, double des_vel, double hz) const
geometry_msgs::Pose	getPositionFromJointsPose (ros::ServiceClient &service_client, std::string fk_link, const std::vector< std::string > &joint_names, const std::vector< double > &joint_pos)
void	jointStateCallback (const sensor_msgs::JointStateConstPtr &jointState)
void	powerBoardCallback (const pr2_msgs::PowerBoardStateConstPtr &powerBoardState)
void	unnormalizeTrajectory (trajectory_msgs::JointTrajectory &traj) const
void	updateWalkAlongAverages ()
Private Attributes
ros::Publisher	base_pub_
bool	control_body_
bool	control_head_
bool	control_larm_
bool	control_prosilica_
bool	control_rarm_
geometry_msgs::Pose	des_l_wrist_roll_pose_
geometry_msgs::Pose	des_r_wrist_roll_pose_
HeadControlMode	head_control_mode_
trajectory_msgs::JointTrajectory	head_nod_traj_
ros::Publisher	head_pub_
trajectory_msgs::JointTrajectory	head_shake_traj_
actionlib::SimpleActionClient < pr2_controllers_msgs::PointHeadAction > *	head_track_hand_client_
std::map< std::string, double >	joint_state_position_map_
ros::Subscriber	joint_state_sub_
std::map< std::string, double >	joint_state_velocity_map_
std::string	l_arm_controller_name_
LaserControlMode	laser_control_mode_
double	laser_fast_amplitude_
double	laser_fast_offset_
double	laser_fast_period_
double	laser_slow_amplitude_
double	laser_slow_offset_
double	laser_slow_period_
ros::Time	last_left_wrist_goal_stamp_
ros::Time	last_right_wrist_goal_stamp_
double	last_torso_vel_
ArmControlMode	left_arm_control_mode_
ros::ServiceClient	left_arm_kinematics_forward_client_
ros::ServiceClient	left_arm_kinematics_inverse_client_
ros::ServiceClient	left_arm_kinematics_solver_client_
ros::Publisher	left_arm_traj_pub_
actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction > *	left_arm_trajectory_client_
std::vector< double >	left_des_joint_states_
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > *	left_gripper_client_
std::vector< double >	left_walk_along_pose_
geometry_msgs::Pose	left_wrist_roll_pose_
ros::NodeHandle	n_
ros::Subscriber	power_board_sub_
ros::ServiceClient	prosilica_polling_client_
std::string	r_arm_controller_name_
ArmControlMode	right_arm_control_mode_
ros::ServiceClient	right_arm_kinematics_forward_client_
ros::ServiceClient	right_arm_kinematics_inverse_client_
ros::ServiceClient	right_arm_kinematics_solver_client_
ros::Publisher	right_arm_traj_pub_
actionlib::SimpleActionClient < pr2_controllers_msgs::JointTrajectoryAction > *	right_arm_trajectory_client_
std::vector< double >	right_des_joint_states_
actionlib::SimpleActionClient < pr2_controllers_msgs::Pr2GripperCommandAction > *	right_gripper_client_
std::vector< double >	right_walk_along_pose_
geometry_msgs::Pose	right_wrist_roll_pose_
urdf::Model	robot_model_
	A model of the robot to see which joints wrap around.
bool	robot_model_initialized_
	Flag that tells us if the robot model was initialized successfully.
bool	status_projector_on
ros::ServiceClient	switch_controllers_service_
ros::ServiceClient	tilt_laser_service_
ros::Publisher	torso_pub_
actionlib::SimpleActionClient < pr2_common_action_msgs::TuckArmsAction > *	tuck_arms_client_
geometry_msgs::Pose	walk_along_left_des_pose_
bool	walk_along_ok_
geometry_msgs::Pose	walk_along_right_des_pose_
std::list< double >	walk_ldx_vals_
std::list< double >	walk_ldy_vals_
std::list< double >	walk_rdx_vals_
std::list< double >	walk_rdy_vals_

Detailed Description

Definition at line 54 of file pr2_teleop_general_commander.h.

Member Enumeration Documentation

enum GeneralCommander::ArmControlMode

Enumerator:

ARM_NO_CONTROLLER
ARM_MANNEQUIN_MODE
ARM_POSITION_CONTROL

Definition at line 64 of file pr2_teleop_general_commander.h.

enum GeneralCommander::HeadControlMode

Enumerator:

HEAD_JOYSTICK
HEAD_TRACK_LEFT_HAND
HEAD_TRACK_RIGHT_HAND
HEAD_MANNEQUIN

Definition at line 70 of file pr2_teleop_general_commander.h.

enum GeneralCommander::HeadSequence

Enumerator:

HEAD_NOD
HEAD_SHAKE

Definition at line 83 of file pr2_teleop_general_commander.h.

enum GeneralCommander::LaserControlMode

Enumerator:

LASER_TILT_OFF
LASER_TILT_SLOW
LASER_TILT_FAST

Definition at line 77 of file pr2_teleop_general_commander.h.

enum GeneralCommander::WhichArm

Enumerator:

ARMS_LEFT
ARMS_RIGHT
ARMS_BOTH

Definition at line 58 of file pr2_teleop_general_commander.h.

Constructor & Destructor Documentation

GeneralCommander::GeneralCommander	(	bool	control_body,
		bool	control_head,
		bool	control_rarm,
		bool	control_larm,
		bool	control_prosilica,
		std::string	arm_controller_name = `default_arm_controller_name`
	)

Definition at line 65 of file pr2_teleop_general_commander.cpp.

GeneralCommander::~GeneralCommander ( )

Definition at line 263 of file pr2_teleop_general_commander.cpp.

Member Function Documentation

double GeneralCommander::calcAverage ( const std::list< double > & av_list ) const [private]

Definition at line 1403 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::clampDesiredArmPositionsToActual ( double max_dist ) [private]

Definition at line 763 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::composeWristRotGoal	(	const std::string	pref,
		pr2_controllers_msgs::JointTrajectoryGoal &	goal,
		std::vector< double > &	des_joints,
		double	des_vel,
		double	hz
	)			const `[private]`

Definition at line 661 of file pr2_teleop_general_commander.cpp.

GeneralCommander::ArmControlMode GeneralCommander::getArmMode ( WhichArm which )

Definition at line 320 of file pr2_teleop_general_commander.cpp.

GeneralCommander::HeadControlMode GeneralCommander::getHeadMode ( )

Definition at line 316 of file pr2_teleop_general_commander.cpp.

bool GeneralCommander::getJointPosition	(	const std::string &	name,
		double &	pos
	)			const

Definition at line 296 of file pr2_teleop_general_commander.cpp.

bool GeneralCommander::getJointVelocity	(	const std::string &	name,
		double &	vel
	)			const

Definition at line 304 of file pr2_teleop_general_commander.cpp.

GeneralCommander::LaserControlMode GeneralCommander::getLaserMode ( )

Definition at line 312 of file pr2_teleop_general_commander.cpp.

geometry_msgs::Pose GeneralCommander::getPositionFromJointsPose	(	ros::ServiceClient &	service_client,
		std::string	fk_link,
		const std::vector< std::string > &	joint_names,
		const std::vector< double > &	joint_pos
	)			`[private]`

Definition at line 1414 of file pr2_teleop_general_commander.cpp.

bool GeneralCommander::initWalkAlong ( )

Definition at line 1222 of file pr2_teleop_general_commander.cpp.

bool GeneralCommander::isWalkAlongOk ( ) [inline]

Definition at line 153 of file pr2_teleop_general_commander.h.

void GeneralCommander::jointStateCallback ( const sensor_msgs::JointStateConstPtr & jointState ) [private]

Definition at line 285 of file pr2_teleop_general_commander.cpp.

bool GeneralCommander::moveToWalkAlongArmPose ( )

Definition at line 1074 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::powerBoardCallback ( const pr2_msgs::PowerBoardStateConstPtr & powerBoardState ) [private]

Definition at line 1456 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::requestProsilicaImage ( std::string ns )

Definition at line 1465 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendArmVelCommands	(	double	r_x_vel,
		double	r_y_vel,
		double	r_z_vel,
		double	r_yaw_vel,
		double	l_x_vel,
		double	l_y_vel,
		double	l_z_vel,
		double	l_yaw_vel,
		double	hz
	)

Definition at line 883 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendBaseCommand	(	double	vx,
		double	vy,
		double	vw
	)

Definition at line 594 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendGripperCommand	(	WhichArm	which,
		bool	close
	)

Definition at line 537 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendHeadCommand	(	double	req_pan,
		double	req_tilt
	)

Definition at line 478 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendHeadSequence ( HeadSequence seq )

Definition at line 1439 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendHeadTrackCommand ( )

Definition at line 498 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendProjectorStartStop ( bool start )

Definition at line 328 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendTorsoCommand	(	double	pos,
		double	vel
	)

Definition at line 576 of file pr2_teleop_general_commander.cpp.

void GeneralCommander::sendWalkAlongCommand	(	double	thresh,
		double	x_dist_max,
		double	x_speed_scale,
		double	y_dist_max,
		double	y_speed_scale,
		double	rot_scale
	)