cob_trajectory_controller_node Class Reference

List of all members.

Public Member Functions
	cob_trajectory_controller_node ()
void	executeFollowTrajectory (const control_msgs::FollowJointTrajectoryGoalConstPtr &goal)
double	getFrequency ()
void	operationmode_callback (const std_msgs::StringPtr &message)
void	run ()
void	spawnTrajector (trajectory_msgs::JointTrajectory trajectory)
bool	srvCallback_setAcc (cob_trajectory_controller::SetFloat::Request &req, cob_trajectory_controller::SetFloat::Response &res)
bool	srvCallback_setVel (cob_trajectory_controller::SetFloat::Request &req, cob_trajectory_controller::SetFloat::Response &res)
bool	srvCallback_Stop (cob_srvs::Trigger::Request &req, cob_srvs::Trigger::Response &res)
void	state_callback (const pr2_controllers_msgs::JointTrajectoryControllerStatePtr &message)
Private Attributes
std::string	action_name_follow_
actionlib::SimpleActionServer < control_msgs::FollowJointTrajectoryAction >	as_follow_
ros::Subscriber	controller_state_
std::string	current_operation_mode_
int	DOF
bool	executing_
bool	failure_
std::vector< double >	joint_distance_
ros::Publisher	joint_vel_pub_
std::vector< std::string >	JointNames_
XmlRpc::XmlRpcValue	JointNames_param_
ros::NodeHandle	n_
ros::Subscriber	operation_mode_
std::vector< double >	q_current
bool	rejected_
ros::ServiceClient	srvClient_SetOperationMode
ros::ServiceServer	srvServer_SetAcc_
ros::ServiceServer	srvServer_SetVel_
ros::ServiceServer	srvServer_Stop_
std::vector< double >	startposition_
trajectory_msgs::JointTrajectory	traj_
genericArmCtrl *	traj_generator_
double	velocity_timeout_
int	watchdog_counter

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Detailed Description

Definition at line 79 of file cob_trajectory_controller.cpp.

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Constructor & Destructor Documentation

cob_trajectory_controller_node::cob_trajectory_controller_node

(

)

[inline]

Definition at line 115 of file cob_trajectory_controller.cpp.

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Member Function Documentation

void cob_trajectory_controller_node::executeFollowTrajectory

(

const control_msgs::FollowJointTrajectoryGoalConstPtr &

goal

)

[inline]

Definition at line 310 of file cob_trajectory_controller.cpp.

double cob_trajectory_controller_node::getFrequency

(

)

[inline]

Definition at line 177 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::operationmode_callback

(

const std_msgs::StringPtr &

message

)

[inline]

Definition at line 220 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::run

(

)

[inline]

Definition at line 328 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::spawnTrajector

(

trajectory_msgs::JointTrajectory

trajectory

)

[inline]

Definition at line 233 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_setAcc	(	cob_trajectory_controller::SetFloat::Request &	req,
		cob_trajectory_controller::SetFloat::Response &	res
	)			[inline]

Definition at line 212 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_setVel	(	cob_trajectory_controller::SetFloat::Request &	req,
		cob_trajectory_controller::SetFloat::Response &	res
	)			[inline]

Definition at line 205 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::srvCallback_Stop	(	cob_srvs::Trigger::Request &	req,
		cob_srvs::Trigger::Response &	res
	)			[inline]

Definition at line 193 of file cob_trajectory_controller.cpp.

void cob_trajectory_controller_node::state_callback

(

const pr2_controllers_msgs::JointTrajectoryControllerStatePtr &

message

)

[inline]

Definition at line 224 of file cob_trajectory_controller.cpp.

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Member Data Documentation

std::string cob_trajectory_controller_node::action_name_follow_ [private]

Definition at line 97 of file cob_trajectory_controller.cpp.

actionlib::SimpleActionServer<control_msgs::FollowJointTrajectoryAction> cob_trajectory_controller_node::as_follow_ [private]

Definition at line 93 of file cob_trajectory_controller.cpp.

ros::Subscriber cob_trajectory_controller_node::controller_state_ [private]

Definition at line 85 of file cob_trajectory_controller.cpp.

std::string cob_trajectory_controller_node::current_operation_mode_ [private]

Definition at line 98 of file cob_trajectory_controller.cpp.

int cob_trajectory_controller_node::DOF [private]

Definition at line 104 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::executing_ [private]

Definition at line 101 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::failure_ [private]

Definition at line 102 of file cob_trajectory_controller.cpp.

std::vector<double> cob_trajectory_controller_node::joint_distance_ [private]

Definition at line 110 of file cob_trajectory_controller.cpp.

ros::Publisher cob_trajectory_controller_node::joint_vel_pub_ [private]

Definition at line 84 of file cob_trajectory_controller.cpp.

std::vector<std::string> cob_trajectory_controller_node::JointNames_ [private]

Definition at line 100 of file cob_trajectory_controller.cpp.

XmlRpc::XmlRpcValue cob_trajectory_controller_node::JointNames_param_ [private]

Definition at line 99 of file cob_trajectory_controller.cpp.

ros::NodeHandle cob_trajectory_controller_node::n_ [private]

Definition at line 82 of file cob_trajectory_controller.cpp.

ros::Subscriber cob_trajectory_controller_node::operation_mode_ [private]

Definition at line 86 of file cob_trajectory_controller.cpp.

std::vector<double> cob_trajectory_controller_node::q_current [private]

Definition at line 110 of file cob_trajectory_controller.cpp.

bool cob_trajectory_controller_node::rejected_ [private]

Definition at line 103 of file cob_trajectory_controller.cpp.

ros::ServiceClient cob_trajectory_controller_node::srvClient_SetOperationMode [private]

Definition at line 90 of file cob_trajectory_controller.cpp.

ros::ServiceServer cob_trajectory_controller_node::srvServer_SetAcc_ [private]

Definition at line 89 of file cob_trajectory_controller.cpp.

ros::ServiceServer cob_trajectory_controller_node::srvServer_SetVel_ [private]

Definition at line 88 of file cob_trajectory_controller.cpp.

ros::ServiceServer cob_trajectory_controller_node::srvServer_Stop_ [private]

Definition at line 87 of file cob_trajectory_controller.cpp.

std::vector<double> cob_trajectory_controller_node::startposition_ [private]

Definition at line 110 of file cob_trajectory_controller.cpp.

trajectory_msgs::JointTrajectory cob_trajectory_controller_node::traj_ [private]

Definition at line 109 of file cob_trajectory_controller.cpp.

genericArmCtrl* cob_trajectory_controller_node::traj_generator_ [private]

Definition at line 108 of file cob_trajectory_controller.cpp.

double cob_trajectory_controller_node::velocity_timeout_ [private]

Definition at line 105 of file cob_trajectory_controller.cpp.

int cob_trajectory_controller_node::watchdog_counter [private]

Definition at line 107 of file cob_trajectory_controller.cpp.

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

• cob_trajectory_controller.cpp