katana_gazebo_plugins::KatanaGripperGraspController Class Reference

#include <katana_gripper_grasp_controller.h>

Inheritance diagram for katana_gazebo_plugins::KatanaGripperGraspController:

Public Member Functions
void	cancelGoal ()
void	getGains (double &p, double &i, double &d, double &i_max, double &i_min)
GRKAPoint	getNextDesiredPoint (ros::Time time)
bool	hasActiveGoal () const
	KatanaGripperGraspController (ros::NodeHandle private_nodehandle)
void	setCurrentPoint (GRKAPoint point)
virtual	~KatanaGripperGraspController ()
Private Member Functions
void	executeCB (const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr &goal)
bool	serviceCallback (object_manipulation_msgs::GraspStatus::Request &request, object_manipulation_msgs::GraspStatus::Response &response)
void	setDesiredAngle (double desired_angle)
Private Attributes
actionlib::SimpleActionServer < object_manipulation_msgs::GraspHandPostureExecutionAction > *	action_server_
	Action server for the grasp posture action.
double	current_angle_
double	desired_angle_
double	gripper_object_presence_threshold_
	A joint angle below this value indicates there is nothing inside the gripper.
bool	has_new_desired_angle_
bool	last_command_was_close_
ros::ServiceServer	query_srv_
	Server for the posture query service.

Detailed Description

Definition at line 42 of file katana_gripper_grasp_controller.h.

Constructor & Destructor Documentation

katana_gazebo_plugins::KatanaGripperGraspController::KatanaGripperGraspController ( ros::NodeHandle private_nodehandle )

Definition at line 47 of file katana_gripper_grasp_controller.cpp.

katana_gazebo_plugins::KatanaGripperGraspController::~KatanaGripperGraspController ( ) [virtual]

Definition at line 73 of file katana_gripper_grasp_controller.cpp.

Member Function Documentation

void katana_gazebo_plugins::KatanaGripperGraspController::cancelGoal ( ) [inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 70 of file katana_gripper_grasp_controller.h.

void katana_gazebo_plugins::KatanaGripperGraspController::executeCB ( const object_manipulation_msgs::GraspHandPostureExecutionGoalConstPtr & goal ) [private]

Definition at line 78 of file katana_gripper_grasp_controller.cpp.

void katana_gazebo_plugins::KatanaGripperGraspController::getGains	(	double &	p,
		double &	i,
		double &	d,
		double &	i_max,
		double &	i_min
	)			`[virtual]`

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 179 of file katana_gripper_grasp_controller.cpp.

GRKAPoint katana_gazebo_plugins::KatanaGripperGraspController::getNextDesiredPoint ( ros::Time time ) [inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 48 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::hasActiveGoal ( ) const [inline, virtual]

Implements katana_gazebo_plugins::IGazeboRosKatanaGripperAction.

Definition at line 63 of file katana_gripper_grasp_controller.h.

bool katana_gazebo_plugins::KatanaGripperGraspController::serviceCallback	(	object_manipulation_msgs::GraspStatus::Request &	request,
		object_manipulation_msgs::GraspStatus::Response &	response
	)			`[private]`