ArmMPCJoints Class Reference

List of all members.

Public Member Functions
	ArmMPCJoints (ros::NodeHandle &nh)
void	close_gripper (bool wait=false)
void	get_cart_and_joint_pos (VectorT &x0)
void	joint_state_callback (const sensor_msgs::JointStateConstPtr &msg)
void	mpc_callback (const motld::TrackedObjectsConstPtr &objects)
void	open_gripper (bool wait=false)
	~ArmMPCJoints ()
Private Attributes
VectorT	center_
GripperClient *	close_gripper_
VectorT	curr_joint_state_
int	curr_t_
Trajectory	curr_traj_
float	eps_
std::string	gripper_action_topic_
std::string	gripper_close_topic_
std::string	gripper_frame_
bool	initialized_
std::vector< int >	joint_mapping_
bool	joint_mapping_initialized_
std::vector< std::string >	joint_names_
ros::Publisher	joint_pose_pub_
ros::Subscriber	joint_state_sub_
trajectory_msgs::JointTrajectory	joint_traj_
VectorT	last_goal_
bool	last_goal_set_
VectorT	last_pos_
bool	last_pos_set_
int	m
ros::Publisher	marker_pub_
std::string	marker_topic_
float	max_mov_dist_
int	n
int	N
ros::NodeHandle	nh_
ros::Subscriber	obj_sub_
std::string	object_topic_
bool	on_way_to_goal_
DDPParams	params
ros::NodeHandle	private_nh_
pr2_joint_space::RightArmModel *	r_arm_model_
bool	restart_ddp_
std::string	root_frame_
boost::mutex	state_mutex_
tf::TransformBroadcaster *	tf_broadcaster_
tf::TransformListener *	tf_transformer_
MatrixT	u0_

---

Detailed Description

Definition at line 36 of file mpc_joint_node.cpp.

---

Constructor & Destructor Documentation

ArmMPCJoints::ArmMPCJoints

(

ros::NodeHandle &

nh

)

[inline]

*

Definition at line 87 of file mpc_joint_node.cpp.

ArmMPCJoints::~ArmMPCJoints

(

)

[inline]

Definition at line 186 of file mpc_joint_node.cpp.

---

Member Function Documentation

void ArmMPCJoints::close_gripper

(

bool

wait = false

)

[inline]

Definition at line 206 of file mpc_joint_node.cpp.

void ArmMPCJoints::get_cart_and_joint_pos

(

VectorT &

x0

)

[inline]

Definition at line 240 of file mpc_joint_node.cpp.

void ArmMPCJoints::joint_state_callback

(

const sensor_msgs::JointStateConstPtr &

msg

)

[inline]

Definition at line 221 of file mpc_joint_node.cpp.

void ArmMPCJoints::mpc_callback

(

const motld::TrackedObjectsConstPtr &

objects

)

[inline]

Definition at line 253 of file mpc_joint_node.cpp.

void ArmMPCJoints::open_gripper

(

bool

wait = false

)

[inline]

Definition at line 191 of file mpc_joint_node.cpp.

---

Member Data Documentation

VectorT ArmMPCJoints::center_ [private]

Definition at line 40 of file mpc_joint_node.cpp.

GripperClient* ArmMPCJoints::close_gripper_ [private]

Definition at line 71 of file mpc_joint_node.cpp.

VectorT ArmMPCJoints::curr_joint_state_ [private]

Definition at line 53 of file mpc_joint_node.cpp.

int ArmMPCJoints::curr_t_ [private]

Definition at line 55 of file mpc_joint_node.cpp.

Trajectory ArmMPCJoints::curr_traj_ [private]

Definition at line 68 of file mpc_joint_node.cpp.

float ArmMPCJoints::eps_ [private]

Definition at line 56 of file mpc_joint_node.cpp.

std::string ArmMPCJoints::gripper_action_topic_ [private]

Definition at line 82 of file mpc_joint_node.cpp.

std::string ArmMPCJoints::gripper_close_topic_ [private]

Definition at line 83 of file mpc_joint_node.cpp.

std::string ArmMPCJoints::gripper_frame_ [private]

Definition at line 80 of file mpc_joint_node.cpp.

bool ArmMPCJoints::initialized_ [private]

Definition at line 39 of file mpc_joint_node.cpp.

std::vector<int> ArmMPCJoints::joint_mapping_ [private]

Definition at line 51 of file mpc_joint_node.cpp.

bool ArmMPCJoints::joint_mapping_initialized_ [private]

Definition at line 52 of file mpc_joint_node.cpp.

std::vector<std::string> ArmMPCJoints::joint_names_ [private]

Definition at line 50 of file mpc_joint_node.cpp.

ros::Publisher ArmMPCJoints::joint_pose_pub_ [private]

Definition at line 46 of file mpc_joint_node.cpp.

ros::Subscriber ArmMPCJoints::joint_state_sub_ [private]

Definition at line 48 of file mpc_joint_node.cpp.

trajectory_msgs::JointTrajectory ArmMPCJoints::joint_traj_ [private]

Definition at line 70 of file mpc_joint_node.cpp.

VectorT ArmMPCJoints::last_goal_ [private]

Definition at line 62 of file mpc_joint_node.cpp.

bool ArmMPCJoints::last_goal_set_ [private]

Definition at line 60 of file mpc_joint_node.cpp.

VectorT ArmMPCJoints::last_pos_ [private]

Definition at line 63 of file mpc_joint_node.cpp.

bool ArmMPCJoints::last_pos_set_ [private]

Definition at line 61 of file mpc_joint_node.cpp.

int ArmMPCJoints::m [private]

Definition at line 65 of file mpc_joint_node.cpp.

ros::Publisher ArmMPCJoints::marker_pub_ [private]

Definition at line 47 of file mpc_joint_node.cpp.

std::string ArmMPCJoints::marker_topic_ [private]

Definition at line 84 of file mpc_joint_node.cpp.

float ArmMPCJoints::max_mov_dist_ [private]

Definition at line 57 of file mpc_joint_node.cpp.

int ArmMPCJoints::n [private]

Definition at line 65 of file mpc_joint_node.cpp.

int ArmMPCJoints::N [private]

Definition at line 65 of file mpc_joint_node.cpp.

ros::NodeHandle ArmMPCJoints::nh_ [private]

Definition at line 75 of file mpc_joint_node.cpp.

ros::Subscriber ArmMPCJoints::obj_sub_ [private]

Definition at line 44 of file mpc_joint_node.cpp.

std::string ArmMPCJoints::object_topic_ [private]

Definition at line 81 of file mpc_joint_node.cpp.

bool ArmMPCJoints::on_way_to_goal_ [private]

Definition at line 59 of file mpc_joint_node.cpp.

DDPParams ArmMPCJoints::params [private]

Definition at line 67 of file mpc_joint_node.cpp.

ros::NodeHandle ArmMPCJoints::private_nh_ [private]

Definition at line 76 of file mpc_joint_node.cpp.

pr2_joint_space::RightArmModel* ArmMPCJoints::r_arm_model_ [private]

Definition at line 73 of file mpc_joint_node.cpp.

bool ArmMPCJoints::restart_ddp_ [private]

Definition at line 66 of file mpc_joint_node.cpp.

std::string ArmMPCJoints::root_frame_ [private]

Definition at line 79 of file mpc_joint_node.cpp.

boost::mutex ArmMPCJoints::state_mutex_ [private]

Definition at line 49 of file mpc_joint_node.cpp.

tf::TransformBroadcaster* ArmMPCJoints::tf_broadcaster_ [private]

Definition at line 41 of file mpc_joint_node.cpp.

tf::TransformListener* ArmMPCJoints::tf_transformer_ [private]

Definition at line 42 of file mpc_joint_node.cpp.

MatrixT ArmMPCJoints::u0_ [private]

Definition at line 69 of file mpc_joint_node.cpp.

---

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

• mpc_joint_node.cpp