Public Member Functions | |
| bool | init (pr2_mechanism_model::RobotState *r, ros::NodeHandle &n) |
| JinvTeleopController () | |
| void | starting () |
| void | update () |
| ~JinvTeleopController () | |
Private Types | |
| enum | { POSE, TWIST } |
| typedef Eigen::Matrix< double, 6, 1 > | CartVector |
| typedef Eigen::Matrix< double, JOINTS, 1 > | JointVector |
| typedef teleop_controllers::JinvTeleopControllerState | StateMsg |
Private Member Functions | |
| void | commandPoseCB (const geometry_msgs::PoseStamped::ConstPtr &command) |
| void | commandPostureCB (const std_msgs::Float64MultiArray::ConstPtr &msg) |
| void | commandTwistCB (const geometry_msgs::TwistStamped::ConstPtr &command) |
Private Attributes | |
| pr2_mechanism_model::Chain | chain_ |
| boost::scoped_ptr < KDL::ChainFkSolverVel > | fk_solver_ |
| boost::scoped_ptr < KDL::ChainJntToJacSolver > | jac_solver_ |
| double | jacobian_inverse_damping_ |
| double | k_posture_ |
| JointVector | Kd_j |
| CartVector | Kd_x |
| KDL::Chain | kdl_chain_ |
| JointVector | Kp_j |
| CartVector | Kp_x |
| ros::Time | last_command_time_ |
| ros::Time | last_time_ |
| int | loop_count_ |
| enum pr2_teleop::JinvTeleopController:: { ... } | mode_ |
| ros::NodeHandle | node_ |
| JointVector | pclamp_j |
| double | pose_command_filter_ |
| rosrt::Publisher< StateMsg > | pub_state_ |
| ros::Publisher | pub_transformed_rot_vel_ |
| ros::Publisher | pub_transformed_twist_ |
| realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped > | pub_x_ |
| realtime_tools::RealtimePublisher < geometry_msgs::PoseStamped > | pub_x_desi_ |
| realtime_tools::RealtimePublisher < geometry_msgs::TwistStamped > | pub_x_err_ |
| JointVector | q |
| JointVector | q_posture_ |
| JointVector | q_proxy_ |
| JointVector | qd |
| JointVector | qd_pose |
| pr2_mechanism_model::RobotState * | robot_ |
| std::string | root_name_ |
| ros::Subscriber | sub_command_ |
| ros::Subscriber | sub_command_pose_ |
| ros::Subscriber | sub_posture_ |
| ros::Subscriber | sub_twist_ |
| JointVector | tau |
| tf::TransformListener | tf_ |
| bool | use_posture_ |
| Eigen::eigen2_Transform3d | x |
| Eigen::eigen2_Transform3d | x_desi_ |
| Eigen::eigen2_Transform3d | x_desi_filtered_ |
| CartVector | x_err |
| CartVector | xd |
| CartVector | xd_desi |
| CartVector | xd_ref |
| double | xd_rot_limit_ |
| double | xd_trans_limit_ |
Definition at line 46 of file jinv_teleop_controller.cpp.
typedef Eigen::Matrix<double, 6, 1> pr2_teleop::JinvTeleopController< JOINTS >::CartVector [private] |
Definition at line 50 of file jinv_teleop_controller.cpp.
typedef Eigen::Matrix<double, JOINTS, 1> pr2_teleop::JinvTeleopController< JOINTS >::JointVector [private] |
Definition at line 49 of file jinv_teleop_controller.cpp.
typedef teleop_controllers::JinvTeleopControllerState pr2_teleop::JinvTeleopController< JOINTS >::StateMsg [private] |
Definition at line 51 of file jinv_teleop_controller.cpp.
anonymous enum [private] |
Definition at line 68 of file jinv_teleop_controller.cpp.
| pr2_teleop::JinvTeleopController< JOINTS >::JinvTeleopController | ( | ) | [inline] |
Definition at line 225 of file jinv_teleop_controller.cpp.
| pr2_teleop::JinvTeleopController< JOINTS >::~JinvTeleopController | ( | ) | [inline] |
Definition at line 231 of file jinv_teleop_controller.cpp.
| void pr2_teleop::JinvTeleopController< JOINTS >::commandPoseCB | ( | const geometry_msgs::PoseStamped::ConstPtr & | command | ) | [inline, private] |
Definition at line 131 of file jinv_teleop_controller.cpp.
| void pr2_teleop::JinvTeleopController< JOINTS >::commandPostureCB | ( | const std_msgs::Float64MultiArray::ConstPtr & | msg | ) | [inline, private] |
Definition at line 200 of file jinv_teleop_controller.cpp.
| void pr2_teleop::JinvTeleopController< JOINTS >::commandTwistCB | ( | const geometry_msgs::TwistStamped::ConstPtr & | command | ) | [inline, private] |
Definition at line 148 of file jinv_teleop_controller.cpp.
| bool pr2_teleop::JinvTeleopController< JOINTS >::init | ( | pr2_mechanism_model::RobotState * | r, | |
| ros::NodeHandle & | n | |||
| ) | [inline] |
Definition at line 240 of file jinv_teleop_controller.cpp.
| void pr2_teleop::JinvTeleopController< JOINTS >::starting | ( | ) | [inline] |
Definition at line 352 of file jinv_teleop_controller.cpp.
| void pr2_teleop::JinvTeleopController< JOINTS >::update | ( | ) | [inline] |
Definition at line 391 of file jinv_teleop_controller.cpp.
pr2_mechanism_model::Chain pr2_teleop::JinvTeleopController< JOINTS >::chain_ [private] |
Definition at line 103 of file jinv_teleop_controller.cpp.
boost::scoped_ptr<KDL::ChainFkSolverVel> pr2_teleop::JinvTeleopController< JOINTS >::fk_solver_ [private] |
Definition at line 105 of file jinv_teleop_controller.cpp.
boost::scoped_ptr<KDL::ChainJntToJacSolver> pr2_teleop::JinvTeleopController< JOINTS >::jac_solver_ [private] |
Definition at line 106 of file jinv_teleop_controller.cpp.
double pr2_teleop::JinvTeleopController< JOINTS >::jacobian_inverse_damping_ [private] |
Definition at line 85 of file jinv_teleop_controller.cpp.
double pr2_teleop::JinvTeleopController< JOINTS >::k_posture_ [private] |
Definition at line 95 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::Kd_j [private] |
Definition at line 84 of file jinv_teleop_controller.cpp.
CartVector pr2_teleop::JinvTeleopController< JOINTS >::Kd_x [private] |
Definition at line 83 of file jinv_teleop_controller.cpp.
KDL::Chain pr2_teleop::JinvTeleopController< JOINTS >::kdl_chain_ [private] |
Definition at line 104 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::Kp_j [private] |
Definition at line 84 of file jinv_teleop_controller.cpp.
CartVector pr2_teleop::JinvTeleopController< JOINTS >::Kp_x [private] |
Definition at line 83 of file jinv_teleop_controller.cpp.
ros::Time pr2_teleop::JinvTeleopController< JOINTS >::last_command_time_ [private] |
Definition at line 88 of file jinv_teleop_controller.cpp.
ros::Time pr2_teleop::JinvTeleopController< JOINTS >::last_time_ [private] |
Definition at line 99 of file jinv_teleop_controller.cpp.
int pr2_teleop::JinvTeleopController< JOINTS >::loop_count_ [private] |
Definition at line 100 of file jinv_teleop_controller.cpp.
enum { ... } pr2_teleop::JinvTeleopController< JOINTS >::mode_ [private] |
ros::NodeHandle pr2_teleop::JinvTeleopController< JOINTS >::node_ [private] |
Definition at line 70 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::pclamp_j [private] |
Definition at line 84 of file jinv_teleop_controller.cpp.
double pr2_teleop::JinvTeleopController< JOINTS >::pose_command_filter_ [private] |
Definition at line 86 of file jinv_teleop_controller.cpp.
rosrt::Publisher<StateMsg> pr2_teleop::JinvTeleopController< JOINTS >::pub_state_ [private] |
Definition at line 78 of file jinv_teleop_controller.cpp.
ros::Publisher pr2_teleop::JinvTeleopController< JOINTS >::pub_transformed_rot_vel_ [private] |
Definition at line 80 of file jinv_teleop_controller.cpp.
ros::Publisher pr2_teleop::JinvTeleopController< JOINTS >::pub_transformed_twist_ [private] |
Definition at line 79 of file jinv_teleop_controller.cpp.
realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> pr2_teleop::JinvTeleopController< JOINTS >::pub_x_ [private] |
Definition at line 75 of file jinv_teleop_controller.cpp.
realtime_tools::RealtimePublisher<geometry_msgs::PoseStamped> pr2_teleop::JinvTeleopController< JOINTS >::pub_x_desi_ [private] |
Definition at line 76 of file jinv_teleop_controller.cpp.
realtime_tools::RealtimePublisher<geometry_msgs::TwistStamped> pr2_teleop::JinvTeleopController< JOINTS >::pub_x_err_ [private] |
Definition at line 77 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::q [private] |
Definition at line 109 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::q_posture_ [private] |
Definition at line 97 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::q_proxy_ [private] |
Definition at line 93 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::qd [private] |
Definition at line 109 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::qd_pose [private] |
Definition at line 114 of file jinv_teleop_controller.cpp.
pr2_mechanism_model::RobotState* pr2_teleop::JinvTeleopController< JOINTS >::robot_ [private] |
Definition at line 66 of file jinv_teleop_controller.cpp.
std::string pr2_teleop::JinvTeleopController< JOINTS >::root_name_ [private] |
Definition at line 102 of file jinv_teleop_controller.cpp.
ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_command_ [private] |
Definition at line 71 of file jinv_teleop_controller.cpp.
ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_command_pose_ [private] |
Definition at line 72 of file jinv_teleop_controller.cpp.
ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_posture_ [private] |
Definition at line 74 of file jinv_teleop_controller.cpp.
ros::Subscriber pr2_teleop::JinvTeleopController< JOINTS >::sub_twist_ [private] |
Definition at line 73 of file jinv_teleop_controller.cpp.
JointVector pr2_teleop::JinvTeleopController< JOINTS >::tau [private] |
Definition at line 115 of file jinv_teleop_controller.cpp.
tf::TransformListener pr2_teleop::JinvTeleopController< JOINTS >::tf_ [private] |
Definition at line 81 of file jinv_teleop_controller.cpp.
bool pr2_teleop::JinvTeleopController< JOINTS >::use_posture_ [private] |
Definition at line 96 of file jinv_teleop_controller.cpp.
Eigen::eigen2_Transform3d pr2_teleop::JinvTeleopController< JOINTS >::x [private] |
Definition at line 110 of file jinv_teleop_controller.cpp.
Eigen::eigen2_Transform3d pr2_teleop::JinvTeleopController< JOINTS >::x_desi_ [private] |
Definition at line 89 of file jinv_teleop_controller.cpp.
Eigen::eigen2_Transform3d pr2_teleop::JinvTeleopController< JOINTS >::x_desi_filtered_ [private] |
Definition at line 89 of file jinv_teleop_controller.cpp.
CartVector pr2_teleop::JinvTeleopController< JOINTS >::x_err [private] |
Definition at line 112 of file jinv_teleop_controller.cpp.
CartVector pr2_teleop::JinvTeleopController< JOINTS >::xd [private] |
Definition at line 111 of file jinv_teleop_controller.cpp.
CartVector pr2_teleop::JinvTeleopController< JOINTS >::xd_desi [private] |
Definition at line 90 of file jinv_teleop_controller.cpp.
CartVector pr2_teleop::JinvTeleopController< JOINTS >::xd_ref [private] |
Definition at line 113 of file jinv_teleop_controller.cpp.
double pr2_teleop::JinvTeleopController< JOINTS >::xd_rot_limit_ [private] |
Definition at line 92 of file jinv_teleop_controller.cpp.
double pr2_teleop::JinvTeleopController< JOINTS >::xd_trans_limit_ [private] |
Definition at line 91 of file jinv_teleop_controller.cpp.
