DoorSwinger Class Reference

#include <door_swinger.h>

List of all members.

Public Member Functions
	DoorSwinger (char lr)
	Use Left (l) or Right (r) arm.
void	home_position ()
	Gripper to front of robot.
bool	swing_door (std_srvs::Empty::Request &, std_srvs::Empty::Response &)
	Approach door from pregrasp, touch, then push.
void	use_gripper (float position, float effort)
	Open or close gripper.
bool	wait_for_gripper ()
	~DoorSwinger ()
Private Member Functions
void	withdraw (float meters)
Private Attributes
std::string	controller_name_
gripActClient *	gripperClient
ros::NodeHandle	n
ros::ServiceServer	serviceServer
tf::TransformListener	tflistener

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Detailed Description

Definition at line 16 of file door_swinger.h.

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Constructor & Destructor Documentation

DoorSwinger::DoorSwinger

(

char

lr

)

Use Left (l) or Right (r) arm.

Definition at line 9 of file door_swinger.cpp.

DoorSwinger::~DoorSwinger

(

)

Definition at line 22 of file door_swinger.cpp.

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Member Function Documentation

void DoorSwinger::home_position

(

)

Gripper to front of robot.

Definition at line 49 of file door_swinger.cpp.

bool DoorSwinger::swing_door	(	std_srvs::Empty::Request &	,
		std_srvs::Empty::Response &
	)

Approach door from pregrasp, touch, then push.

Definition at line 95 of file door_swinger.cpp.

void DoorSwinger::use_gripper	(	float	position,
		float	effort
	)

Open or close gripper.

Definition at line 26 of file door_swinger.cpp.

bool DoorSwinger::wait_for_gripper

(

)

Definition at line 37 of file door_swinger.cpp.

void DoorSwinger::withdraw

(

float

meters

)

[private]

Retreat the gripper along its x-axis. meters gives the length to withdraw in meters

Definition at line 62 of file door_swinger.cpp.

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Member Data Documentation

std::string DoorSwinger::controller_name_ [private]

Definition at line 34 of file door_swinger.h.

gripActClient* DoorSwinger::gripperClient [private]

Definition at line 30 of file door_swinger.h.

ros::NodeHandle DoorSwinger::n [private]

Definition at line 31 of file door_swinger.h.

ros::ServiceServer DoorSwinger::serviceServer [private]

Definition at line 32 of file door_swinger.h.

tf::TransformListener DoorSwinger::tflistener [private]

Definition at line 33 of file door_swinger.h.

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

• door_swinger.h
• door_swinger.cpp