Public Member Functions | Static Public Attributes | Protected Attributes
Pr2GripperTrajectoryControllerHandler Class Reference

Trajectory controller handler for the pr2 gripper. More...

#include <pr2_gripper_trajectory_controller_handler.h>

Inheritance diagram for Pr2GripperTrajectoryControllerHandler:
Inheritance graph
[legend]

List of all members.

Public Member Functions

void cancelExecution ()
 cancel the execution of the trajectory. This should be implemented by derived classes.
void controllerActiveCallback ()
void controllerDoneCallback (const actionlib::SimpleClientGoalState &state, const pr2_controllers_msgs::Pr2GripperCommandResultConstPtr &result)
void controllerFeedbackCallback (const pr2_controllers_msgs::Pr2GripperCommandFeedbackConstPtr &feedback)
bool enableOvershoot (double max_overshoot_velocity_epsilon, ros::Duration min_overshoot_time, ros::Duration max_overshoot_time)
 Gripper does not monitor overshoot. This function returns false;.
bool executeTrajectory (const trajectory_msgs::JointTrajectory &trajectory, boost::shared_ptr< trajectory_execution_monitor::TrajectoryRecorder > &recorder, const trajectory_execution_monitor::TrajectoryFinishedCallbackFunction &traj_callback)
 Start executing. Gripper will either open or close.
 Pr2GripperTrajectoryControllerHandler (const std::string &group_name, const std::string &controller_name)

Static Public Attributes

static const double DEFAULT_GRIPPER_OBJECT_PRESENCE_THRESHOLD = 0.0021
static const double GRIPPER_CLOSED = 0.0
static const double GRIPPER_OPEN = 0.086

Protected Attributes

actionlib::SimpleActionClient
< pr2_controllers_msgs::Pr2GripperCommandAction
pr2_gripper_action_client_

Detailed Description

Trajectory controller handler for the pr2 gripper.

Author:
E. Gil Jones

Definition at line 46 of file pr2_gripper_trajectory_controller_handler.h.


Constructor & Destructor Documentation

Pr2GripperTrajectoryControllerHandler::Pr2GripperTrajectoryControllerHandler ( const std::string &  group_name,
const std::string &  controller_name 
) [inline]

Definition at line 54 of file pr2_gripper_trajectory_controller_handler.h.


Member Function Documentation

cancel the execution of the trajectory. This should be implemented by derived classes.

Implements trajectory_execution_monitor::TrajectoryControllerHandler.

Definition at line 104 of file pr2_gripper_trajectory_controller_handler.h.

Definition at line 130 of file pr2_gripper_trajectory_controller_handler.h.

Definition at line 107 of file pr2_gripper_trajectory_controller_handler.h.

Definition at line 135 of file pr2_gripper_trajectory_controller_handler.h.

bool Pr2GripperTrajectoryControllerHandler::enableOvershoot ( double  max_overshoot_velocity_epsilon,
ros::Duration  min_overshoot_time,
ros::Duration  max_overshoot_time 
) [inline]

Gripper does not monitor overshoot. This function returns false;.

Reimplemented from trajectory_execution_monitor::TrajectoryControllerHandler.

Definition at line 65 of file pr2_gripper_trajectory_controller_handler.h.

bool Pr2GripperTrajectoryControllerHandler::executeTrajectory ( const trajectory_msgs::JointTrajectory &  trajectory,
boost::shared_ptr< trajectory_execution_monitor::TrajectoryRecorder > &  recorder,
const trajectory_execution_monitor::TrajectoryFinishedCallbackFunction traj_callback 
) [inline, virtual]

Start executing. Gripper will either open or close.

Implements trajectory_execution_monitor::TrajectoryControllerHandler.

Definition at line 73 of file pr2_gripper_trajectory_controller_handler.h.


Member Data Documentation

Definition at line 52 of file pr2_gripper_trajectory_controller_handler.h.

Definition at line 51 of file pr2_gripper_trajectory_controller_handler.h.

Definition at line 50 of file pr2_gripper_trajectory_controller_handler.h.

Definition at line 143 of file pr2_gripper_trajectory_controller_handler.h.


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


trajectory_execution_monitor
Author(s): Gil Jones
autogenerated on Thu Dec 12 2013 11:08:01